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A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots

Kurowski, Stefan and Stryk, Oskar von (2015):
A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots.
Hamburg, Germany, In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, DOI: 10.1109/IROS.2015.7353906,
[Conference or Workshop Item]

Abstract

Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this paper, a methodology is presented to systematically design and tailor passive and active control elements for elastically actuated robots. It is based on a formal specification of requirements derived from the main design principles for embodied agents as proposed by Pfeifer et al. which are transfered to dynamic model based multi objective optimization problems. The proposed approach is demonstrated and applied for the design of a biomechanically inspired, musculoskeletal bipedal robot to achieve walking and human-like jogging.

Item Type: Conference or Workshop Item
Erschienen: 2015
Creators: Kurowski, Stefan and Stryk, Oskar von
Title: A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots
Language: English
Abstract:

Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this paper, a methodology is presented to systematically design and tailor passive and active control elements for elastically actuated robots. It is based on a formal specification of requirements derived from the main design principles for embodied agents as proposed by Pfeifer et al. which are transfered to dynamic model based multi objective optimization problems. The proposed approach is demonstrated and applied for the design of a biomechanically inspired, musculoskeletal bipedal robot to achieve walking and human-like jogging.

Place of Publication: Hamburg, Germany
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location: Hamburg, Germany
Date Deposited: 03 Dec 2018 12:19
DOI: 10.1109/IROS.2015.7353906
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