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Design Considerations for a Biologically Inspired Compliant Four-Legged Robot

Radkhah, Kathayon and Kurowski, Stefan and Stryk, Oskar von and Stryk, Oskar von (2009):
Design Considerations for a Biologically Inspired Compliant Four-Legged Robot.
In: Proc. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), Guilin, Guangxi, China, pp. 598-603, [Online-Edition: https://ieeexplore.ieee.org/document/5420606],
[Conference or Workshop Item]

Abstract

In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic drives with a setup similarly to biological muscles. The robot is characterized by several different gaits and an animal like locomotion without using feedback control. It has four legs, each having three joints of which two are actuated. During the development we also paid attention to the technical realization of the model. Special techniques to reduce the weight of the robot such as the achievement of different motions by changing the spring stiffness by means of intelligent control instead of an additional motor were also focused on during the development. Two novel features of our four-legged concept comprise the possibility of easily changing the spring stiffness deployed in the bionic drives of the joints and the way of this adjustment which requires neither complex computation nor additional motor. This feature allows the smooth transition to different gaits without necessarily having to change the controller parameters.

Item Type: Conference or Workshop Item
Erschienen: 2009
Creators: Radkhah, Kathayon and Kurowski, Stefan and Stryk, Oskar von and Stryk, Oskar von
Title: Design Considerations for a Biologically Inspired Compliant Four-Legged Robot
Language: English
Abstract:

In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic drives with a setup similarly to biological muscles. The robot is characterized by several different gaits and an animal like locomotion without using feedback control. It has four legs, each having three joints of which two are actuated. During the development we also paid attention to the technical realization of the model. Special techniques to reduce the weight of the robot such as the achievement of different motions by changing the spring stiffness by means of intelligent control instead of an additional motor were also focused on during the development. Two novel features of our four-legged concept comprise the possibility of easily changing the spring stiffness deployed in the bionic drives of the joints and the way of this adjustment which requires neither complex computation nor additional motor. This feature allows the smooth transition to different gaits without necessarily having to change the controller parameters.

Title of Book: Proc. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Place of Publication: Guilin, Guangxi, China
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Official URL: https://ieeexplore.ieee.org/document/5420606
Additional Information:

Finalist for Best Paper Award in Biomimetics

Identification Number: radkhah_Robio:2009
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