Biomimetic robotics should be based on functional morphology

Witte, Hartmut; Hoffmann, Helge; Hackert, Rémi; Schilling, Cornelius; Fischer, Martin S.; Preuschoft, Holger

doi:10.1111/j.0021-8782.2004.00297.x

Cited by 33 publications

(29 citation statements)

References 27 publications

(60 reference statements)

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“…Realistic 3D movement would almost certainly require subdividing the trunk and allowing spinal and pelvic movements to prevent the observed vertical torsion effects (Witte et al 2004). This would greatly increase model complexity, both in terms of joints and muscles.…”

Section: Discussionmentioning

confidence: 99%

Evolutionary Robotic Approaches in Primate Gait Analysis

et al. 2010

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Understanding how primates move is particularly challenging because many of the experimentation techniques that would normally be available are unsuitable for ethical and conservation reasons. We therefore need to develop techniques that can maximize the data available from minimally intrusive experimentation. One approach for achieving this is to use evolutionary robotic techniques to build a musculoskeletal simulation and generate movement patterns that optimize some global parameter such as economy or performance, or to match existing kinematic data. If the simulation has a sufficiently high biofidelity and can match experimentally measured performance criteria then we can use it to predict aspects of locomotor mechanics that would otherwise be impossible to measure. This approach is particularly valuable when studying fossil primates because it can be based entirely on morphology and can generate movements spontaneously. A major question in human evolution is the origin of bipedal running and the role of elastic energy storage. By using an evolutionary robotics model of humanoid running we can show that elastic storage is required for efficient, high-performance running. Elasticity allows both energy recovery to minimize total energy cost and also power amplification to allow high performance. The most important elastic energy store on the human hind limb is the Achilles tendon: a feature that is at best weakly expressed among the African great apes. By running simulations both with and without this structure we can demonstrate its importance, and we suggest that identification of the presence or otherwise of this tendon-perhaps by calcaneal morphology or Sharpey's fibers-is essential for identifying when and where in the fossil record human style running originated.

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Section: Discussionmentioning

confidence: 99%

Evolutionary Robotic Approaches in Primate Gait Analysis

et al. 2010

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“…Following the argumentation in [1], the development of biomimetic robots should not only be based on morphological studies. Biomechanical and thus functional analyses should be done to achieve a model of climbing.…”

Section: Introductionmentioning

confidence: 99%

Biomechanical analyses of rat locomotion during walking and climbing as a base for the design and construction of climbing robots

Andrada¹,

Mämpel²,

Schmidt³

et al. 2010

WIT Transactions on Ecology and the Environment

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Ecological generalists, such as rats, may be used as biological paragons for the design and construction of adaptive light-weight climbing robots. We applied the inverse dynamic approach (IDA) on rats walking and climbing at different inclinations in order to estimate joint forces, torques and power in extremities and the trunk. If we understand the adaptive nature of small mammals' moving on sloped supports, via biomimetic transfer the principles uncovered may be applied to the design and construction of more adaptive climbing machines.

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“…These reptiles have special pads on the soles of their feet that allow them to adhere to virtually any surface; this feature has made them attractive subjects for research on how to incorporate tight grip into a robot (Dai & Sun, 2007). A second active area of research that is unique to robots with legs is the study of humanoid robots (e.g., Witte et al, 2004). Part of the attraction of these robots is the challenge of designing one that can walk and balance well on two legs.…”

Section: Applicationsmentioning

confidence: 99%

“…Walking or hopping robots have been made with leg numbers ranging from one to 10. Animal models for these robots include humans (Witte et al, 2004), rats (Chavarriaga et al, 2005), salamanders , a variety of insects (ants: Goulet & Gosselin, 2005, cockroaches: Delcomyn & Nelson, 2000Saranli et al, 2001;Nelson et al, 1999;stick insects: Dean et al, 1999), scorpions (Klaassen et al, 2002), and lobsters (Ayres & Witting, 2007). Raibert & Hodgins (1993) have developed a single-legged robot that "walks" by hopping.…”

Section: Featuresmentioning

confidence: 99%

“…However, some work has also been done on humanoid robots, where the problems of balance are severe. Witte et al (2004) articulate several "principles" of humanoid walking that they arrived at from an analysis of biped walking in bipedal robots. These include, 1) human walking depends on elasticity as much as neuromuscular control, and hence rigid biomechanics cannot describe human walking sufficiently; 2) the trunk is an important component in walking; and 3) the ability of humans to twist the spine around the waist must be taken into consideration in an analysis of human walking.…”

Section: The Effects Of Biomechanical Structurementioning

confidence: 99%

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