Sharbafi, Maziar Ahmad ; Rode, Christian ; Kurowski, Stefan ; Scholz, Dorian ; Möckel, Rico ; Radkhah, Katayon ; Zhao, Guoping ; Rashty, Aida Mohammadinejad ; Stryk, Oskar von ; Seyfarth, André (2024)
A new biarticular actuator design facilitates control of leg function in BioBiped3.
In: Bioinspiration & Biomimetics, 2016, 11 (4)
doi: 10.26083/tuprints-00020377
Artikel, Zweitveröffentlichung, Verlagsversion
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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: | 2024 |
| Autor(en): | Sharbafi, Maziar Ahmad ; Rode, Christian ; Kurowski, Stefan ; Scholz, Dorian ; Möckel, Rico ; Radkhah, Katayon ; Zhao, Guoping ; Rashty, Aida Mohammadinejad ; Stryk, Oskar von ; Seyfarth, André |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | A new biarticular actuator design facilitates control of leg function in BioBiped3 |
| Sprache: | Englisch |
| Publikationsjahr: | 9 Januar 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2016 |
| Ort der Erstveröffentlichung: | Bristol |
| Verlag: | IOP Publishing |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Bioinspiration & Biomimetics |
| Jahrgang/Volume einer Zeitschrift: | 11 |
| (Heft-)Nummer: | 4 |
| Kollation: | 14 Seiten |
| DOI: | 10.26083/tuprints-00020377 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/20377 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| 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. |
| Freie Schlagworte: | legged robots, locomotion control, musculosklettal systems, biarticular actuation |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-203779 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik 700 Künste und Unterhaltung > 796 Sport |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik 03 Fachbereich Humanwissenschaften 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft > Sportbiomechanik |
| Hinterlegungsdatum: | 09 Jan 2024 10:59 |
| Letzte Änderung: | 12 Mär 2024 10:08 |
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| Suche nach Titel in: | TUfind oder in Google |
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- A new biarticular actuator design facilitates control of leg function in BioBiped3. (deposited 09 Jan 2024 10:59) [Gegenwärtig angezeigt]
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