Detailed dynamics modeling of BioBiped's monoarticular and biarticular tendon-driven actuation system

Radkhah, Katayon; Lens, Thomas; Stryk, Oskar von

doi:10.1109/iros.2012.6385564

Cited by 18 publications

(17 citation statements)

References 16 publications

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“…Different implementations have been proposed: either by tendon-driven actuation with base-fixed motors [11], [17], [18], [19], by pneumatic artificial muscles [12], [20], [21], by planetary gears [22], [23], [24], by pulleys [25], or by directly coupling a linear motor with the end effector [26]. However, even if some of these actuators are able to change their active (controlled) stiffness (e.g., impedance control [26] or stiffness control for disturbance rejection [23], [25]), not all of these actuators are designed to change their passive (intrinsic) stiffness [19], [22], [23], [24], [25], [26] even when actuated by six actuators for two joints [18].…”

Section: Related Workmentioning

confidence: 99%

A new biarticular joint mechanism to extend stiffness ranges

Höppner

Wiedmeyer

Smagt

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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We introduce a six-actuator robotic joint mechanism with biarticular coupling inspired by the human limb which neither requires pneumatic artificial muscles nor tendon coupling. The actuator can independently change monoarticular and biarticular stiffness as well as both joint positions. We model and analyse the actuator with respect to stiffness variability in comparison with an actuator without biarticular coupling. We demonstrate that the biarticular coupling considerably extends the range of stiffness with an 70-fold improvement in versatility, in particular with respect to the end-point Cartesian stiffness shape and orientation. We suggest using Cartesian stiffness isotropy as an optimisation criterion for future underactuated versions.

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Section: Related Workmentioning

confidence: 99%

A new biarticular joint mechanism to extend stiffness ranges

Höppner

Wiedmeyer

Smagt

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…We dierentiate between bidirectional and unidirectional electrically driven series elastic actuators, referred to as b-SEA and u-SEA, respectively. 10 As shown in Fig. 1(b), the hip joint is actuated by a b-SEA representing the antagonist-agonist muscle pair Gluteus Maximus (GL) -Iliopsoas (ILIO).…”

Section: Biobiped's Musculoskeletal Actuation Dynamicsmentioning

confidence: 99%

Model-Based Elastic Tendon Control for Electrically Actuated Musculoskeletal Bipeds

Radkhah

Stryk²

2013

Nature-Inspired Mobile Robotics

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Human-inspired musculoskeletal design of bipedal robots oers great potential towards enhanced dynamic and energy-ecient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system's complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The eectiveness of the proposed approach is evaluated for hopping-in-place motions on the simulation model of the BioBiped1 robot, a human-inspired musculoskeletal biped featuring a highly compliant tendon-driven actuation system.

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“…In order to approach human locomotion capabilities, the robot BioBiped was designed [38]. However, its elastic couplings have only been investigated for a hopping motion with given joint torque trajectories without any optimization [37].…”

Section: Introductionmentioning

confidence: 99%

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

et al. 2016

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This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings-mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling between the shanks. It is modeled as underactuated system to make use of its natural dynamics and feedback controlled via input-output linearization. A numerical optimization of the joint angle trajectories as well as the elastic couplings is performed to minimize the average energy expenditure over the whole speed range. The elastic couplings increase the swing leg motion's natural frequency thus making smaller steps more efficient which reduce the impact loss at the touchdown of the swing leg. The process of energy turnover is investigated in detail for the robot with and without elastic coupling between the shanks. Furthermore, the influences of the elastic couplings' topology and of joint friction are analyzed. It is shown that the optimization of the robot's motion and elastic coupling towards energy efficiency leads to a slightly slower convergence rate of the controller, yet no loss of stability but a lower sensitivity with respect to disturbances. The optimal elastic coupling discovered via numerical optimization is a linear torsion spring with transmissions between the shanks. A design proposal for this elastic coupling-which does not affect the robot's trunk and parallel shank motion and can be used to enhance an existing robot-is given for planar as well as spatial robots.

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Detailed dynamics modeling of BioBiped's monoarticular and biarticular tendon-driven actuation system

Cited by 18 publications

References 16 publications

A new biarticular joint mechanism to extend stiffness ranges

A new biarticular joint mechanism to extend stiffness ranges

Model-Based Elastic Tendon Control for Electrically Actuated Musculoskeletal Bipeds

Optimal elastic coupling in form of one mechanical spring to improve energy efficiency of walking bipedal robots

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