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Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs

Seyfarth, André and Tausch, R. and Stelzer, M. and Iida, F. and Karguth, A. and Stryk, Oskar von and 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, pp. 257-265, 28, (2), [Article]

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.

Item Type: Article
Erschienen: 2009
Creators: Seyfarth, André and Tausch, R. and Stelzer, M. and Iida, F. and Karguth, A. and Stryk, Oskar von and Stryk, Oskar von
Title: Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs
Language: English
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.

Journal or Publication Title: International Journal of Robotics Research
Volume: 28
Number: 2
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
03 Department of Human Sciences
03 Department of Human Sciences > Institut für Sportwissenschaft
03 Department of Human Sciences > Institut für Sportwissenschaft > Sportbiomechanik
Date Deposited: 20 Jun 2016 23:26
Additional Information:

see also the video

Identification Number: 2009:IJRR-Seyfarthetal
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