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Concept and design of the BioBiped1 robot for human-like walking and running

Radkhah, Kathayon ; Maufroy, Christophe ; Maus, Moritz ; Scholz, Dorian ; Seyfarth, André ; Stryk, Oskar von ; Stryk, Oskar von (2011)
Concept and design of the BioBiped1 robot for human-like walking and running.
In: International Journal of Humanoid Robotics, 8 (3)
doi: 10.1142/S0219843611002587
Artikel, Bibliographie

Kurzbeschreibung (Abstract)

Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.

Typ des Eintrags: Artikel
Erschienen: 2011
Autor(en): Radkhah, Kathayon ; Maufroy, Christophe ; Maus, Moritz ; Scholz, Dorian ; Seyfarth, André ; Stryk, Oskar von ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Concept and design of the BioBiped1 robot for human-like walking and running
Sprache: Englisch
Publikationsjahr: 2011
Titel der Zeitschrift, Zeitung oder Schriftenreihe: International Journal of Humanoid Robotics
Jahrgang/Volume einer Zeitschrift: 8
(Heft-)Nummer: 3
DOI: 10.1142/S0219843611002587
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Kurzbeschreibung (Abstract):

Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.

Freie Schlagworte: Hopping; running; jogging; walking; biped; biomechanics; humanoid locomotion; compliance; mechanical elasticity; series elastic actuation
Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
03 Fachbereich Humanwissenschaften
03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft
03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft > Sportbiomechanik
Hinterlegungsdatum: 20 Jun 2016 23:26
Letzte Änderung: 15 Mär 2019 09:58
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