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On the Design and Development of Musculoskeletal Bipedal Robots

Scholz, Dorian (2016):
On the Design and Development of Musculoskeletal Bipedal Robots.
Darmstadt, tuprints, Technische Universität Darmstadt, [Online-Edition: http://tuprints.ulb.tu-darmstadt.de/5628],
[Ph.D. Thesis]

Abstract

Bio-inspired musculoskeletal bipedal robots with tendon driven series elastic actuation including biarticular structures have the potential to outperform rigidly actuated robots. But the design, the control and the tuning of these bio-inspired robots are more complex than for their rigidly actuated counterparts. In this thesis new approaches to solving the problems arising from the bio-inspired design of robots are proposed and evaluated using a prototype series of musculoskeletal bipedal robots developed in the BioBiped project. This includes a systematic approach to tuning of hardware and software parameters in a hardware-in-the-loop optimization process with increased efficiency through the use of expert knowledge.

Item Type: Ph.D. Thesis
Erschienen: 2016
Creators: Scholz, Dorian
Title: On the Design and Development of Musculoskeletal Bipedal Robots
Language: English
Abstract:

Bio-inspired musculoskeletal bipedal robots with tendon driven series elastic actuation including biarticular structures have the potential to outperform rigidly actuated robots. But the design, the control and the tuning of these bio-inspired robots are more complex than for their rigidly actuated counterparts. In this thesis new approaches to solving the problems arising from the bio-inspired design of robots are proposed and evaluated using a prototype series of musculoskeletal bipedal robots developed in the BioBiped project. This includes a systematic approach to tuning of hardware and software parameters in a hardware-in-the-loop optimization process with increased efficiency through the use of expert knowledge.

Place of Publication: Darmstadt
Publisher: tuprints
Uncontrolled Keywords: bipedal musculoskeltal robot
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 14 Aug 2016 19:55
Official URL: http://tuprints.ulb.tu-darmstadt.de/5628
URN: urn:nbn:de:tuda-tuprints-56287
Referees: von Stryk, Prof. Dr. Oskar and Seyfarth, Prof. Dr. André
Refereed / Verteidigung / mdl. Prüfung: 18 August 2015
Alternative Abstract:
Alternative abstract Language
Biologisch inspirierte muskuloskeletale zweibeinige Roboter mit über Sehnen angetriebenen seriell-elastischen Aktoren und biartikulären Strukturen haben potentiell eine höhere Leistung als steif angetriebene Roboter. Aber das Design, die Regelung und die Auslegung dieser biologisch inspirierten Roboter sind komplexer als bei ihren steif angetriebenen Gegenstücken. In dieser Arbeit werden neue Lösungsansätze für die hierbei auftretenden Probleme vorgestellt und auf einer Reihe von zweibeinigen muskuloskeletalen Roboter-Prototypen aus dem BioBiped Projekt evaluiert. Unter anderem ein systematischer Ansatz zur Auslegung und Einstellung von Hardware- und Softwareparametern in einem hardware-in-the-loop Optimierungsprozess mit erhöhter Effizienz durch den Einsatz von Expertenwissen.German
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