Scholz, Dorian ; Maufroy, Christophe ; Kurowski, Stefan ; Radkhah, Katayon ; Stryk, Oskar von ; Seyfarth, André ; Stryk, Oskar von (2012)
Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle ar- chitecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elas- tic biarticular structures in the leg, reducing the risk of over-extending individual joints.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2012 |
| Autor(en): | Scholz, Dorian ; Maufroy, Christophe ; Kurowski, Stefan ; Radkhah, Katayon ; Stryk, Oskar von ; Seyfarth, André ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs |
| Sprache: | Englisch |
| Publikationsjahr: | 2012 |
| Buchtitel: | 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR) |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle ar- chitecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elas- tic biarticular structures in the leg, reducing the risk of over-extending individual joints. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik 03 Fachbereich Humanwissenschaften 03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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