TY - JOUR
T1 - A new biarticular actuator design facilitates control of leg function in BioBiped3
AU - Sharbafi, Maziar Ahmad
AU - Rode, Christian
AU - Kurowski, Stefan
AU - Scholz, Dorian
AU - Möckel, Rico
AU - Radkhah, Katayon
AU - Zhao, Guoping
AU - Rashty, Aida Mohammadinejad
AU - von Stryk, Oskar
AU - Seyfarth, Andre
PY - 2016
Y1 - 2016
N2 - Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.
AB - Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.
KW - legged robots
KW - locomotion control
KW - musculosklettal systems
KW - biarticular actuation
KW - WALKING
KW - COORDINATION
KW - MUSCLES
KW - ROBOT
U2 - 10.1088/1748-3190/11/4/046003
DO - 10.1088/1748-3190/11/4/046003
M3 - Article
C2 - 27367459
SN - 1748-3182
VL - 11
JO - Bioinspiration & Biomimetics
JF - Bioinspiration & Biomimetics
IS - 4
M1 - 046003
ER -