Scholz, Dorian ; Maufroy, Christophe ; Kurowski, Stefan ; Radkhah, Katayon ; Stryk, Oskar von ; Seyfarth, André ; Stryk, Oskar von (2012)
Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs.
Conference or Workshop Item, Bibliographie
Abstract
The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle ar- chitecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elas- tic biarticular structures in the leg, reducing the risk of over-extending individual joints.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2012 |
| Creators: | Scholz, Dorian ; Maufroy, Christophe ; Kurowski, Stefan ; Radkhah, Katayon ; Stryk, Oskar von ; Seyfarth, André ; Stryk, Oskar von |
| Type of entry: | Bibliographie |
| Title: | Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs |
| Language: | English |
| Date: | 2012 |
| Book Title: | 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR) |
| Corresponding Links: | |
| Abstract: | The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle ar- chitecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elas- tic biarticular structures in the leg, reducing the risk of over-extending individual joints. |
| 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 |
| Date Deposited: | 20 Jun 2016 23:26 |
| Last Modified: | 15 Mar 2019 09:58 |
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