TU Darmstadt / ULB / TUbiblio

Model-based elastic tendon control for electrically actuated musculoskeletal bipeds

Radkhah, Kathayon ; Stryk, Oskar von (2013)
Model-based elastic tendon control for electrically actuated musculoskeletal bipeds.
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (Abstract)

Human-inspired musculoskeletal design of bipedal robots offers great potential towards enhanced dynamic and energy-efficient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system’s complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The effectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2013
Autor(en): Radkhah, Kathayon ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Model-based elastic tendon control for electrically actuated musculoskeletal bipeds
Sprache: Englisch
Publikationsjahr: Juli 2013
Buchtitel: Proc. Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)
Zugehörige Links:
Kurzbeschreibung (Abstract):

Human-inspired musculoskeletal design of bipedal robots offers great potential towards enhanced dynamic and energy-efficient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system’s complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The effectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 20 Jun 2016 23:26
Letzte Änderung: 08 Mai 2019 10:06
PPN:
Zugehörige Links:
Export:
Suche nach Titel in: TUfind oder in Google
Frage zum Eintrag Frage zum Eintrag

Optionen (nur für Redakteure)
Redaktionelle Details anzeigen Redaktionelle Details anzeigen