TU Darmstadt / ULB / TUbiblio

On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots

Radkhah, Kathayon and Lens, Thomas and Seyfarth, André and Stryk, Oskar von and Stryk, Oskar von :
On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots.
Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB)
[Conference or Workshop Item] , (2010)

Abstract

Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects revealed that the control complexity can be drastically reduced by designing mechanically intelligent systems with self-stabilization structures. Breaking through the latter obstacle can be achieved by the development and use of compliant actuators. Mechanical elasticity and its online adaptation in legged systems are generally accepted as the technologies to achieve human-like mobility. However, elastic actuation does not necessarily result in energy-efficient systems. We show that mechanical elasticity, although being worthwhile, can have negative effects on the performance of drives. We present a methodology that introduces both elasticity and energy-efficiency to a bipedal model. To this end, we report on the influence of monoarticular structures and demonstrate that these structures have the potential to both take us a step further toward the goal of realizing human-like locomotion and reduce the energy consumption.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Radkhah, Kathayon and Lens, Thomas and Seyfarth, André and Stryk, Oskar von and Stryk, Oskar von
Title: On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots
Language: English
Abstract:

Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects revealed that the control complexity can be drastically reduced by designing mechanically intelligent systems with self-stabilization structures. Breaking through the latter obstacle can be achieved by the development and use of compliant actuators. Mechanical elasticity and its online adaptation in legged systems are generally accepted as the technologies to achieve human-like mobility. However, elastic actuation does not necessarily result in energy-efficient systems. We show that mechanical elasticity, although being worthwhile, can have negative effects on the performance of drives. We present a methodology that introduces both elasticity and energy-efficiency to a bipedal model. To this end, we report on the influence of monoarticular structures and demonstrate that these structures have the potential to both take us a step further toward the goal of realizing human-like locomotion and reduce the energy consumption.

Title of Book: Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB)
Divisions: Department of Computer Science
Department of Computer Science > Simulation, Systems Optimization and Robotics Group
03 Department Human Sciences
03 Department Human Sciences > Institut für Sportwissenschaft
03 Department Human Sciences > Institut für Sportwissenschaft > Sportbiomechanik
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2010:biorob_radkhah
Related URLs:
Export:

Optionen (nur für Redakteure)

View Item View Item