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Concept and Design of Continuum Joints for the Use in a Dynamic Walking Robot

Neumann, Oliver Sebastian (2021) Concept and Design of Continuum Joints for the Use in a Dynamic Walking Robot. Master's, Technische Universität München (TUM).

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Abstract

In this thesis, a concept as well as a design of a lightweight, anthropomorphically inspired robotic torso based a continuum joint is presented. In an experimental testbed, the principle variable resonance behaviour of the non-linearly behaving overall system, consisting of continuum and cable actuation, is shown. The rotational torque transmission supported by the resonant superposition is realised by a tripod joint, so that the underactuated but robust behaviour of the continuum is preserved. The actuation is designed to allow a backdrivable operation. In addition, the actuation used, allows to realise and study anthropomorphic inspired movement coupling.

Item URL in elib:https://elib.dlr.de/147008/
Document Type:Thesis (Master's)
Additional Information:DLR-IB-RM-OP-2021-159
Title:Concept and Design of Continuum Joints for the Use in a Dynamic Walking Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Neumann, Oliver SebastianOliver.Neumann (at) dlr.deUNSPECIFIED
Date:1 December 2021
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:57
Status:Published
Keywords:continuum joint characterisation, anthropomorphic design, robotic torso
Institution:Technische Universität München (TUM)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Deutschmann, Bastian
Deposited On:10 Dec 2021 18:22
Last Modified:10 Dec 2021 18:22

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