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Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs

Seyfarth, A. and Tausch, R. and Stelzer, M. and Iida, F. and Karguth, A. and Stryk, Oskar von (2006):
Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs.
In: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots, Brussels, Belgium, 12.09.06 -14.09.06, pp. 396-401, [Conference or Workshop Item]

Abstract

Elasticity in conventionally built walking robots is an undesired side-effect that is oppressed as much as possible because it makes control very hard, and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with suffcient stability. In this research we investigate how elasticities and damping can sensibly be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable elastic strings spanning one or more joints is used to configure a human-like biped. In parallel, a complex simulation model of the robot has been established. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. Experiments on the real robot very well matched the numerical results. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.

Item Type: Conference or Workshop Item
Erschienen: 2006
Creators: Seyfarth, A. and Tausch, R. and Stelzer, M. and Iida, F. and Karguth, A. and Stryk, Oskar von
Title: Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs
Language: English
Abstract:

Elasticity in conventionally built walking robots is an undesired side-effect that is oppressed as much as possible because it makes control very hard, and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with suffcient stability. In this research we investigate how elasticities and damping can sensibly be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable elastic strings spanning one or more joints is used to configure a human-like biped. In parallel, a complex simulation model of the robot has been established. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. Experiments on the real robot very well matched the numerical results. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
03 Department of Human Sciences
03 Department of Human Sciences > Institut für Sportwissenschaft
Event Title: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots
Event Location: Brussels, Belgium
Event Dates: 12.09.06 -14.09.06
Date Deposited: 28 Oct 2019 11:15
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