Zhao, Guoping ; Mohseni, Omid ; Murcia, Marc ; Seyfarth, André ; Sharbafi, Maziar A. (2022)
Exploring the effects of serial and parallel elasticity on a hopping robot.
In: Frontiers in Neurorobotics, 2022, 16
doi: 10.26083/tuprints-00022335
Artikel, Zweitveröffentlichung, Verlagsversion
Kurzbeschreibung (Abstract)
The interaction between the motor control and the morphological design of the human leg is critical for generating efficient and robust locomotion. In this paper, we focus on exploring the effects of the serial and parallel elasticity on hopping with a two-segmented robotic leg called electric-pneumatic actuation (EPA)-Hopper. EPA-Hopper uses a hybrid actuation system that combines electric motors and pneumatic artificial muscles (PAM). It provides direct access to adjust the physical compliance of the actuation system by tuning PAM pressures. We evaluate the role of the serial and parallel PAMs with different levels of compliance with respect to four criteria: efficiency, performance, stability, and robustness of hopping against perturbations. The results show that the serial PAM has a more pronounced impact than the parallel PAM on these criteria. Increasing the stiffness of the serial PAM decreases the leg stiffness of the unloading phase during hopping. The stiffer the leg, the more efficient and the less robust the movement. These findings can help us further understand the human hopping mechanism and support the design and control of legged robots and assistive devices.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Zhao, Guoping ; Mohseni, Omid ; Murcia, Marc ; Seyfarth, André ; Sharbafi, Maziar A. |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Exploring the effects of serial and parallel elasticity on a hopping robot |
| Sprache: | Englisch |
| Publikationsjahr: | 2022 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2022 |
| Verlag: | Frontiers Media S.A. |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Frontiers in Neurorobotics |
| Jahrgang/Volume einer Zeitschrift: | 16 |
| Kollation: | 14 Seiten |
| DOI: | 10.26083/tuprints-00022335 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/22335 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | The interaction between the motor control and the morphological design of the human leg is critical for generating efficient and robust locomotion. In this paper, we focus on exploring the effects of the serial and parallel elasticity on hopping with a two-segmented robotic leg called electric-pneumatic actuation (EPA)-Hopper. EPA-Hopper uses a hybrid actuation system that combines electric motors and pneumatic artificial muscles (PAM). It provides direct access to adjust the physical compliance of the actuation system by tuning PAM pressures. We evaluate the role of the serial and parallel PAMs with different levels of compliance with respect to four criteria: efficiency, performance, stability, and robustness of hopping against perturbations. The results show that the serial PAM has a more pronounced impact than the parallel PAM on these criteria. Increasing the stiffness of the serial PAM decreases the leg stiffness of the unloading phase during hopping. The stiffer the leg, the more efficient and the less robust the movement. These findings can help us further understand the human hopping mechanism and support the design and control of legged robots and assistive devices. |
| Freie Schlagworte: | serial elasticity, parallel elasticity, hopping robot, pneumatic artificial muscle, hybrid actuation |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-223359 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | Zentrale Einrichtungen Zentrale Einrichtungen > Centre for Cognitive Science (CCS) |
| Hinterlegungsdatum: | 12 Sep 2022 13:07 |
| Letzte Änderung: | 13 Sep 2022 06:06 |
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