Silva, Alessandro Brugnera ; Murcia, Marc ; Mohseni, Omid ; Takahashi, Ryu ; Forner-Cordero, Arturo ; Seyfarth, Andre ; Hosoda, Koh ; Sharbafi, Maziar Ahmad (2024)
Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots.
In: Biomimetics, 2024, 9 (3)
doi: 10.26083/tuprints-00027138
Artikel, Zweitveröffentlichung, Verlagsversion
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Kurzbeschreibung (Abstract)
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric–pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions—stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2024 |
| Autor(en): | Silva, Alessandro Brugnera ; Murcia, Marc ; Mohseni, Omid ; Takahashi, Ryu ; Forner-Cordero, Arturo ; Seyfarth, Andre ; Hosoda, Koh ; Sharbafi, Maziar Ahmad |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots |
| Sprache: | Englisch |
| Publikationsjahr: | 14 Mai 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 7 März 2024 |
| Ort der Erstveröffentlichung: | Basel |
| Verlag: | MDPI |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Biomimetics |
| Jahrgang/Volume einer Zeitschrift: | 9 |
| (Heft-)Nummer: | 3 |
| Kollation: | 20 Seiten |
| DOI: | 10.26083/tuprints-00027138 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/27138 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric–pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions—stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches. |
| Freie Schlagworte: | legged locomotion, compliant actuation, pneumatic artificial muscles, mechanical intelligence, control embodiment |
| ID-Nummer: | Artikel-ID: 164 |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-271385 |
| Zusätzliche Informationen: | This article belongs to the Special Issue Bio-Inspired Locomotion and Manipulation of Legged Robot |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 500 Naturwissenschaften und Mathematik > 570 Biowissenschaften, Biologie 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau 700 Künste und Unterhaltung > 796 Sport |
| Fachbereich(e)/-gebiet(e): | 03 Fachbereich Humanwissenschaften 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft > Sportbiomechanik Zentrale Einrichtungen Zentrale Einrichtungen > Centre for Cognitive Science (CCS) |
| Hinterlegungsdatum: | 14 Mai 2024 13:50 |
| Letzte Änderung: | 15 Mai 2024 17:42 |
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| Suche nach Titel in: | TUfind oder in Google |
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