Zhao, Guoping ; Szymanski, Florian ; Seyfarth, Andre (2020)
Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg.
In: Bioinspiration & Biomimetics, 15 (2)
doi: 10.1088/1748-3190/ab6ed8
Artikel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
It has been shown that human-like hopping can be achieved by muscle reflex control in neuromechanical simulations. However, it is unclear if this concept is applicable and feasible for controlling a real robot. This paper presents a low-cost two-segmented robotic leg design and demonstrates the feasibility and the benefits of the bio-inspired neuromuscular reflex based control for hopping. Simulation models were developed to describe the dynamics of the real robot. Different neuromuscular reflex pathways were investigated with the simulation models. We found that stable hopping can be achieved with both positive muscle force and length feedback, and the hopping height can be controlled by modulating the muscle force feedback gains with the return maps. The force feedback neuromuscular reflex based controller is robust against body mass and ground impedance changes. Finally, we implemented the controller on the real robot to prove the feasibility of the proposed neuromuscular reflex based control idea. This paper demonstrates the neuromuscular reflex based control approach is feasible to implement and capable of achieving stable and robust hopping in a real robot. It provides a promising direction of controlling the legged robot to achieve robust dynamic motion in the future.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2020 |
| Autor(en): | Zhao, Guoping ; Szymanski, Florian ; Seyfarth, Andre |
| Art des Eintrags: | Bibliographie |
| Titel: | Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg |
| Sprache: | Englisch |
| Publikationsjahr: | 2020 |
| Verlag: | IOP Publishing |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Bioinspiration & Biomimetics |
| Jahrgang/Volume einer Zeitschrift: | 15 |
| (Heft-)Nummer: | 2 |
| Kollation: | 12 Seiten |
| DOI: | 10.1088/1748-3190/ab6ed8 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | It has been shown that human-like hopping can be achieved by muscle reflex control in neuromechanical simulations. However, it is unclear if this concept is applicable and feasible for controlling a real robot. This paper presents a low-cost two-segmented robotic leg design and demonstrates the feasibility and the benefits of the bio-inspired neuromuscular reflex based control for hopping. Simulation models were developed to describe the dynamics of the real robot. Different neuromuscular reflex pathways were investigated with the simulation models. We found that stable hopping can be achieved with both positive muscle force and length feedback, and the hopping height can be controlled by modulating the muscle force feedback gains with the return maps. The force feedback neuromuscular reflex based controller is robust against body mass and ground impedance changes. Finally, we implemented the controller on the real robot to prove the feasibility of the proposed neuromuscular reflex based control idea. This paper demonstrates the neuromuscular reflex based control approach is feasible to implement and capable of achieving stable and robust hopping in a real robot. It provides a promising direction of controlling the legged robot to achieve robust dynamic motion in the future. |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 700 Künste und Unterhaltung > 796 Sport |
| Fachbereich(e)/-gebiet(e): | 03 Fachbereich Humanwissenschaften 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft |
| Hinterlegungsdatum: | 02 Aug 2024 12:36 |
| Letzte Änderung: | 02 Aug 2024 12:36 |
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| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
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Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg. (deposited 24 Aug 2021 07:15)
- Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg. (deposited 02 Aug 2024 12:36) [Gegenwärtig angezeigt]
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