Dynamic Stability in Bipedal Motion
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Senior Program Assistant', 'PO_EMAI': None, 'PO_PHON': None}
The long term objective of the research is to contribute                   theoretical and experimental knowledge to the field of                          controllable biped machines.  The goal of this research project                 is to use this knowledge to allow a two legged machine to be in                 equilibrium with its environment, and to be capable of                          dynamically stable motion.  Specific research results expected                  from this research are:  new knowledge of the dynamics of biped                 stability, simulation studies of balance and motion using a biped               model, an appropriate biped control model (emphasizing concurrent               processes), biped balance algorithms, biped motion algorithms,                  biped reflex algorithms, and new knowledge of the relationship                  between balance and motion.  These theoretical and simulation                   results will be validated using an experimental biped                           test bed.  Several methods will be investigated for attaining                   standing equilibrium and in-motion stability.  One of these                     methods involves investigating the separation of equilibrium (or                balance) from motion.  If feasible, this separation will greatly                simplify motion algorithms.  It is expected that a biped model                  will be finalized and that a dynamically stable biped                           experimental machine will be demonstrated.
[{'FirstName': 'Michael', 'LastName': 'Mulder', 'PI_MID_INIT': 'C', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Michael C Mulder', 'EmailAddress': 'mulder@cacs.usl.edu', 'NSF_ID': '000435464', 'StartDate': '02/01/1988', 'EndDate': None, 'RoleCode': 'Principal Investigator'}, {'FirstName': 'John', 'LastName': 'Shaw', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'John Shaw', 'EmailAddress': None, 'NSF_ID': '000434774', 'StartDate': '02/01/1988', 'EndDate': None, 'RoleCode': 'Co-Principal Investigator'}, {'FirstName': 'Ming-Shu', 'LastName': 'Hsu', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Ming-Shu Hsu', 'EmailAddress': None, 'NSF_ID': '000336845', 'StartDate': '02/01/1988', 'EndDate': None, 'RoleCode': 'Co-Principal Investigator'}]
{'Name': 'University of Portland', 'CityName': 'PORTLAND', 'ZipCode': '972035798', 'PhoneNumber': '5039438004', 'StreetAddress': '5000 N WILLAMETTE BLVD', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Oregon', 'StateCode': 'OR', 'CONGRESSDISTRICT': '03', 'CONGRESS_DISTRICT_ORG': 'OR03', 'ORG_UEI_NUM': 'UUUDTDHGF7H3', 'ORG_LGL_BUS_NAME': 'UNIVERSITY OF PORTLAND', 'ORG_PRNT_UEI_NUM': None}
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