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A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots

Kurowski, Stefan ; Stryk, Oskar von (2015)
A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Hamburg, Germany
doi: 10.1109/IROS.2015.7353906
Conference or Workshop Item, Bibliographie

Abstract

Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this paper, a methodology is presented to systematically design and tailor passive and active control elements for elastically actuated robots. It is based on a formal specification of requirements derived from the main design principles for embodied agents as proposed by Pfeifer et al. which are transfered to dynamic model based multi objective optimization problems. The proposed approach is demonstrated and applied for the design of a biomechanically inspired, musculoskeletal bipedal robot to achieve walking and human-like jogging.

Item Type: Conference or Workshop Item
Erschienen: 2015
Creators: Kurowski, Stefan ; Stryk, Oskar von
Type of entry: Bibliographie
Title: A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots
Language: English
Date: September 2015
Place of Publication: Hamburg, Germany
Event Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location: Hamburg, Germany
DOI: 10.1109/IROS.2015.7353906
Corresponding Links:
Abstract:

Bio-inspired legged robots with compliant actuation can potentially achieve motion properties in real world scenarios which are superior to conventionally actuated robots. In this paper, a methodology is presented to systematically design and tailor passive and active control elements for elastically actuated robots. It is based on a formal specification of requirements derived from the main design principles for embodied agents as proposed by Pfeifer et al. which are transfered to dynamic model based multi objective optimization problems. The proposed approach is demonstrated and applied for the design of a biomechanically inspired, musculoskeletal bipedal robot to achieve walking and human-like jogging.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 03 Dec 2018 12:19
Last Modified: 19 Mar 2019 14:19
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