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Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs

Radkhah, Kathayon and Maus, M. and Scholz, Dorian and Seyfarth, André and Stryk, Oskar von and Stryk, Oskar von :
Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs.
41st International Symposium on Robotics (ISR)/ 6th German Conference on Robotics (ROBOTIK)
[Conference or Workshop Item] , (2010)

Abstract

The long-term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multi-modal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Radkhah, Kathayon and Maus, M. and Scholz, Dorian and Seyfarth, André and Stryk, Oskar von and Stryk, Oskar von
Title: Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs
Language: English
Abstract:

The long-term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multi-modal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design.

Title of Book: 41st International Symposium on Robotics (ISR)/ 6th German Conference on Robotics (ROBOTIK)
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: radkhah_ISR:2010
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