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A Systematic Approach to the Design of Embodiment with Application to Bio-Inspired Compliant Legged Robots

Kurowski, Stefan (2015):
A Systematic Approach to the Design of Embodiment with Application to Bio-Inspired Compliant Legged Robots.
Darmstadt, Technische Universität Darmstadt,
[Ph.D. Thesis]

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 thesis, 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: Ph.D. Thesis
Erschienen: 2015
Creators: Kurowski, Stefan
Title: A Systematic Approach to the Design of Embodiment with Application to Bio-Inspired Compliant Legged Robots
Language: English
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 thesis, 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.
Place of Publication: Darmstadt
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 07 Feb 2016 20:56
URL / URN: http://tuprints.ulb.tu-darmstadt.de/4947
URN: urn:nbn:de:tuda-tuprints-49471
PPN:
Referees: von Stryk, Prof. Dr. Oskar ; Rinderknecht, Prof. Dr. Stephan
Refereed / Verteidigung / mdl. Prüfung: 6 August 2015
Alternative Abstract:
Alternative abstract Language

Biologisch inspirierte Laufroboter mit elastischem Antrieb können in realen Umgebungen potentiell Bewegungseigenschaften erreichen, die Robotern mit starren Antrieben überlegen sind. Die in dieser Dissertation vorgestellte neue Methodik, ermöglicht eine systematische Auslegung von aktiven und passiven Reglungsparametern für einen elastisch aktuierten Roboter. Die Methodik basiert auf der Formalisierung der Anforderungen, abgeleitet aus den Design-Prinzipien für "Emodied Agents" wie sie von Pfeifer et al. spezifiziert sind. Diese abgeleiteten Anforderungen werden dabei auf Optimierungsprobleme von Dynamikmodellen mit mehreren Gütekriterien übertragen. Der vorgestellte Ansatz wird im Rahmen der Dissertation angewendet auf die Auslegung eines biomechanisch inspirierten, muskuloskeletalen zweibeinigen Roboter, zur Erreichung menschenähnlicher Geh- und Joggingbewegungen.

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