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Nonlinear elastic resonance modes for efficient robot and biological locomotion

Albu-Schäffer, Alin Olimpiu (2019) Nonlinear elastic resonance modes for efficient robot and biological locomotion. RRJS, Robotics Research Jam Session 2019, 2019-06-19 - 2019-06-20, Pisa, Italien. (Unpublished)

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Abstract

Controlling motion at low energetic cost, both from mechanical and computational point of view, certainly constitutes one of the major locomotion challenges in biology and robotics. We attempt to demonstrate that robots can be designed and controlled to walk highly efficient by exploiting resonance body effects, increasing the performance compared to rigid body designs. To do so, however, legged robots need to achieve limit cycle motions of the highly coupled, non-linear body dynamics. This led us to the research of the still not very well understood theory of nonlinear system intrinsic modal oscillation control. I will present current theoretical and experimental results therewith. One of the striking results is that biomechanics, in particular kinematics, visco-elastic and inertial properties of biological limbs are such that coordinated resonant motions of multiple joints intrinsically emerges and is therefore easy to excite and sustain. This can be also achieved by careful design for robotic systems. Some of the basic robotics control functions we developed for locomotion strikingly resemble neural functionalities and structures. For example, Hebbian learning, one of the most basic principles of synaptic plasticity, is mathematically equivalent to robotic controllers which adapt to previously unknown resonance properties of the body. Based on the robot control approach, we propose an equivalent neural model involving neural plasticity in the spine and the serotonergic loop in the brain-stem. This hypothesis is supported by numerous experimental evidences from neuroscience.

Item URL in elib:https://elib.dlr.de/127558/
Document Type:Conference or Workshop Item (Speech)
Title:Nonlinear elastic resonance modes for efficient robot and biological locomotion
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, Alin OlimpiuUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:19 June 2019
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Unpublished
Keywords:Robot Locomotion
Event Title:RRJS, Robotics Research Jam Session 2019
Event Location:Pisa, Italien
Event Type:international Conference
Event Start Date:19 June 2019
Event End Date:20 June 2019
Organizer:University of Pisa
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:28 Jun 2019 12:52
Last Modified:24 Apr 2024 20:31

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