Sharbafi, M. A. ; Rode, C. ; Kurowski, Stefan ; Scholz, Dorian ; Möckel, R. ; Radkhah, Katayon ; Zhao, G. ; Rashty, A. M. ; Stryk, Oskar von ; Seyfarth, A. (2016)
A new biarticular actuator design facilitates control of leg function in BioBiped3.
In: Bioinspiration & Biomimetics, 11 (4)
doi: 10.1088/1748-3190/11/4/046003
Artikel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2016 |
| Autor(en): | Sharbafi, M. A. ; Rode, C. ; Kurowski, Stefan ; Scholz, Dorian ; Möckel, R. ; Radkhah, Katayon ; Zhao, G. ; Rashty, A. M. ; Stryk, Oskar von ; Seyfarth, A. |
| Art des Eintrags: | Bibliographie |
| Titel: | A new biarticular actuator design facilitates control of leg function in BioBiped3 |
| Sprache: | Englisch |
| Publikationsjahr: | 2016 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Bioinspiration & Biomimetics |
| Jahrgang/Volume einer Zeitschrift: | 11 |
| (Heft-)Nummer: | 4 |
| DOI: | 10.1088/1748-3190/11/4/046003 |
| URL / URN: | http://iopscience.iop.org/article/10.1088/1748-3190/11/4/046... |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 29 Nov 2018 08:11 |
| Letzte Änderung: | 12 Mär 2024 10:08 |
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| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
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A new biarticular actuator design facilitates control of leg function in BioBiped3. (deposited 09 Jan 2024 10:59)
- A new biarticular actuator design facilitates control of leg function in BioBiped3. (deposited 29 Nov 2018 08:11) [Gegenwärtig angezeigt]
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