Kurowski, Stefan ; Stryk, Oskar von (2015)
A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany
doi: 10.1109/IROS.2015.7353906
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (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.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2015 |
| Autor(en): | Kurowski, Stefan ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots |
| Sprache: | Englisch |
| Publikationsjahr: | September 2015 |
| Ort: | Hamburg, Germany |
| Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Veranstaltungsort: | Hamburg, Germany |
| DOI: | 10.1109/IROS.2015.7353906 |
| Zugehörige Links: | |
| Kurzbeschreibung (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. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 03 Dez 2018 12:19 |
| Letzte Änderung: | 19 Mär 2019 14:19 |
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