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Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs

Scholz, Dorian and Maufroy, Christophe and Kurowski, Stefan and Radkhah, Katayon and Stryk, Oskar von and Seyfarth, André and 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.
In: 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2012
Creators: Scholz, Dorian and Maufroy, Christophe and Kurowski, Stefan and Radkhah, Katayon and Stryk, Oskar von and Seyfarth, André and Stryk, Oskar von
Title: Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs
Language: English
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.

Title of Book: 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
03 Department of Human Sciences
03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2012simpar_scholz
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