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Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1

Radkhah, Kathayon and Stryk, Oskar von and Stryk, Oskar von (2011):
Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1.
In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), [Conference or Workshop Item]

Abstract

Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.

Item Type: Conference or Workshop Item
Erschienen: 2011
Creators: Radkhah, Kathayon and Stryk, Oskar von and Stryk, Oskar von
Title: Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1
Language: English
Abstract:

Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.

Title of Book: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: iros2011:radkhah
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