Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.
The development of optimized motions of humanoid robots that guarantee fast and also stable walking is an important task, especially in the context of autonomous soccer-playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low-dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low-dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches, we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot, we measured a forward walking speed of more than 30 cm s 11 . With a modified version of the robot, even more than 40 cm s 11 could be achieved in permanent operation.
The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion. In contrast to the inverse dynamics simulation the forward dynamics simulation enables to consider very general problem statements in principle. The paper presents a new approach to the forward dynamics simulation and optimization of human body dynamics which overcomes the enormous computational cost of current approaches for solving the resulting optimal control problems. The presented approach is based on a suitable modeling of the dynamics of the musculoskeletal system in combination with a tailored direct collocation method for optimal control. First numerical results for a human kick demonstrate an improvement in computational time of two orders of magnitude when compared to standard methods.
Purpose of the Review Elevated levels of anti-phospholipid (aPL) antibodies are the most important criterion in the diagnosis of anti-phospholipid syndrome (APS) and are usually responsible for promoting the risk of thrombotic complications. Now, in the course of the global coronavirus disease 2019 (COVID-19) pandemic, measurable aPL antibodies have also been detected in a noticeable number of patients showing a variety ranging from studies with only isolated positive tests to cohorts with very high positivity. Thus, the question arises as to whether these two different clinical pictures may be linked. Recent Findings The ambivalent results showed a frequent occurrence of the investigated aPL antibodies in COVID-19 patients to an individually varying degree. While some question a substantial correlation according to their results, a number of studies raise questions about the significance of a correlation of aPL antibodies in COVID-19 patients. Within the scope of this review, these have now been described and compared with each other. Summary Ultimately, it is necessary to conduct further studies that specifically test aPL antibodies in a larger context in order to make subsequent important statements about the role of APS in COVID-19 and to further strengthen the significance of the described comparisons.
Preprint of the paper submitted to the 4 t h I F A C -S y m p o s i u m o n M e c h a t r o n i c S y s t e m s H e i d e l b e r g , G e r m a n y , S e p t e m b e r 1 2 t h -1 4 t h ,Prestrainend shape memory alloys (SMA) change their length when heated above their transformation temperature. Based on this property this paper presents the design of macroscopic SMA actuators scalable in force and length that keeps up a short cool down time to guarantee a high frequency of contraction/stress cycles and the possibility of arranging the fixings in any direction. A new model of the macroscopic actuator has been developed. The model describes the actuator's behaviour and offers the possibility to use the resistance of the actuator as a linear position encoder.Experimental results demonstrate that the newly developed SMA device can be used as actuator and position sensor. The measurement shows that the fixings of the actuator can be shifted or rotated without influence on the actuators behaviour and therefore various uses are possible. Based on the measurement a first control approach has been developed and tested.
-Suddenly occurring collisions or unintentional motions represent a high safety risk in robotics and must be prevented. Especially for humanoid robots, the influence of disturbances that occur unexpectedly during bipedal locomotion are difficult to compensate. A model based online control approach for stabilization of a humanoid robot with many degrees of freedom may require too much time for computing and implementing an adequate compensating motion. In addition, such a control approach usually requires accurate sensor information about the type and magnitude of the disturbance.The goal of the present paper is a reflex based online stabilization control of a humanoid robot actuator based on artificial SMA muscles. The design of a humanoid robot actuated with SMA muscles allows a lightweight robot design and simplifies the direct implementation of reflexes. The reflex that is integrated into the robot depends on an evaluation of the pressure distribution of the feet. An instable position of the center of mass of the robot leads to a known specific pressure disturbance that should be avoided.The experiments show that the implementation of a reflex for the actuators in the calf leads to a stabilization of the entire robot. Additional reflexes are required when the strength or speed of disturbances are increased, such as in the upper leg or arms.Index Terms -biologically inspired stabilization reflex, SMA wire bundle actuator, artificial muscle, humanoid robot
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