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Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots

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, 9 (3)
doi: 10.3390/biomimetics9030164
Artikel, Bibliographie

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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: Bibliographie
Titel: Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots
Sprache: Englisch
Publikationsjahr: 7 März 2024
Ort: Basel
Verlag: MDPI
Titel der Zeitschrift, Zeitung oder Schriftenreihe: Biomimetics
Jahrgang/Volume einer Zeitschrift: 9
(Heft-)Nummer: 3
Kollation: 20 Seiten
DOI: 10.3390/biomimetics9030164
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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.

Freie Schlagworte: legged locomotion, compliant actuation, pneumatic artificial muscles, mechanical intelligence, control embodiment
ID-Nummer: Artikel-ID: 164
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: 02 Aug 2024 13:17
Letzte Änderung: 02 Aug 2024 13:17
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