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Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion

Fründ, Konrad and Beck, Fabian and Shu, Anton and Loeffl, Florian Christoph and Lee, Jinoh (2024) Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion. In: 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, pp. 1-8. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023-12-12 - 2023-12-14, Austin, TX, USA. doi: 10.1109/Humanoids57100.2023.10375238. ISBN 979-835030327-8. ISSN 2164-0572.

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Official URL: https://ieeexplore.ieee.org/document/10375238

Abstract

The field of humanoid robots has grown in recent years with several companies and research laboratories developing new humanoid systems. However, the number of running robots did not noticeably rise. Despite the need for fast locomotion to quickly serve given tasks, which require traversing complex terrain by running and jumping over obstacles. To provide an overview of the design of humanoid robots with bioinspired mechanisms, this paper introduces the fundamental functions of the human running gait. The paper surveys multiple concepts, i.e. to protect the system against impacts, store kinetic energy at touchdown, use natural dynamics, and transfer energy between joints through couplings. The understanding of the fundamental functions can support engineers to design versatile humanoid robots, without sacrificing versatility against capability.

Item URL in elib:https://elib.dlr.de/201741/
Document Type:Conference or Workshop Item (Speech)
Title:Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fründ, KonradUNSPECIFIEDhttps://orcid.org/0000-0002-9581-8045UNSPECIFIED
Beck, FabianUNSPECIFIEDhttps://orcid.org/0000-0003-3239-5505UNSPECIFIED
Shu, AntonUNSPECIFIEDhttps://orcid.org/0000-0002-8825-6697UNSPECIFIED
Loeffl, Florian ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6914-5414UNSPECIFIED
Lee, JinohUNSPECIFIEDhttps://orcid.org/0000-0002-4901-7095UNSPECIFIED
Date:1 January 2024
Journal or Publication Title:22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/Humanoids57100.2023.10375238
Page Range:pp. 1-8
ISSN:2164-0572
ISBN:979-835030327-8
Status:Published
Keywords:Running; Bioinspiration; Humanoid Robotics
Event Title:2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)
Event Location:Austin, TX, USA
Event Type:international Conference
Event Start Date:12 December 2023
Event End Date:14 December 2023
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 - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Fründ, Konrad
Deposited On:17 Jan 2024 12:36
Last Modified:24 Apr 2024 21:02

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