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Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics

Lakatos, Dominic and Rode, Christian and Seyfarth, Andre and Albu-Schäffer, Alin (2014) Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics. In: IEEE-RAS International Conference on Humanoid Robots, pp. 930-937. IEEE/RAS. 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spanien. ISBN 978-1-4799-7173-2

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Abstract

Biped running can be conceptually reduced to a set of simple and quasi-independent tasks such as weight bearing, upper-body balancing, and energy injection through ankle push-off. We show in this paper that by appropriately designing multi-articular elastic actuators for biped robots in a manner inspired by human biomechanics, these tasks can be favorably expressed in a set of coordinates, in which the system is elastically decoupled. In these coordinates, the robot can be easily controlled by a set of simple and independent control laws. By exploiting the natural dynamics of the specially designed robot, the proposed controller requires only minimal model knowledge (mainly in terms of kinematic and static parameters) and is therefore robust to model uncertainties. It requires only state measurements and no measurement or model based computation of higher order state derivatives. Moreover, since the system is operated at a frequency dictated by the natural resonance, the running gait is energy efficient and resembles to a large extent natural human motion. Simulations validate the concept and demonstrate the independence of the approach from the knowledge of dynamics parameters.

Item URL in elib:https://elib.dlr.de/93379/
Document Type:Conference or Workshop Item (Poster)
Title:Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Rode, ChristianChristian Rode [christian.rode (at) uni-jena.de]UNSPECIFIED
Seyfarth, Andreseyfarth (at) sport.tu-darmstadt.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:November 2014
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
Page Range:pp. 930-937
Publisher:IEEE/RAS
ISBN:978-1-4799-7173-2
Status:Published
Keywords:Locomotion Novel actuation mechanisms Limit cylces
Event Title:2014 IEEE-RAS International Conference on Humanoid Robots
Event Location:Madrid, Spanien
Event Type:international Conference
Organizer:IEEE-RAS
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) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lakatos, Dominic
Deposited On:09 Jan 2015 15:15
Last Modified:31 Jul 2019 19:50

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