Seyfarth, André ; Tausch, R. ; Stelzer, M. ; Iida, F. ; Karguth, A. ; Stryk, Oskar von (2009)
Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs.
In: International Journal of Robotics Research, 28 (2)
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2009 |
| Autor(en): | Seyfarth, André ; Tausch, R. ; Stelzer, M. ; Iida, F. ; Karguth, A. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs |
| Sprache: | Englisch |
| Publikationsjahr: | 1 Februar 2009 |
| Verlag: | Sage Science Press |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | International Journal of Robotics Research |
| Jahrgang/Volume einer Zeitschrift: | 28 |
| (Heft-)Nummer: | 2 |
| URL / URN: | https://journals.sagepub.com/toc/ijra/28/2 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot. |
| Zusätzliche Informationen: | see also the video |
| 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: | 10 Dez 2021 07:33 |
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