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The DLR C-Runner: Concept, Design and Experiments

Loeffl, Florian Christoph and Werner, Alexander and Lakatos, Dominic and Reinecke, Jens and Wolf, Sebastian and Burger, Robert and Gumpert, Th. and Schmidt, Florian and Ott, Christian and Grebenstein, Markus and Albu-Schäffer, Alin (2016) The DLR C-Runner: Concept, Design and Experiments. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots 2016, Cancun, Mexico.

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Abstract

Legged locomotion requires highly dynamic and efficient actuation as well as robust environment interaction. In the past years soft robots with elastic actuation have been investigated and their fitness for cyclic tasks and safe and robust environment interaction has been shown. To evaluate the benefits and drawbacks of series elastic actuation, variable impedance actuation as well as multi-articular elastic coupling in legged locomotion, we developed a two legged human size test-bed. These modular robotic legs give the possibility to evaluate and directly compare different elastic actuation concepts on a single system. Hopping and bipedal modal motion experiments where performed to proof the concept.

Item URL in elib:https://elib.dlr.de/108239/
Document Type:Conference or Workshop Item (Lecture)
Title:The DLR C-Runner: Concept, Design and Experiments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Loeffl, Florian ChristophFlorian.Loeffl (at) dlr.deUNSPECIFIED
Werner, AlexanderAlexander.Werner (at) dlr.deUNSPECIFIED
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Reinecke, Jensjens.reinecke (at) dlr.deUNSPECIFIED
Wolf, Sebastiansebastian.wolf (at) dlr.deUNSPECIFIED
Burger, Robertrobert.burger (at) dlr.deUNSPECIFIED
Gumpert, Th.UNSPECIFIEDUNSPECIFIED
Schmidt, Florianflorian.schmidt (at) dlr.deUNSPECIFIED
Ott, ChristianUNSPECIFIEDUNSPECIFIED
Grebenstein, MarkusUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Date:30 November 2016
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Compliant Robot, Bipedal Robot,
Event Title:IEEE-RAS International Conference on Humanoid Robots 2016
Event Location:Cancun, Mexico
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Loeffl, Florian Christoph
Deposited On:30 Nov 2016 09:27
Last Modified:31 Jul 2019 20:05

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