The DLR C-runner: Concept, design and experiments

Loeffl, Florian; Werner, A.; Lakatos, Dominic; Reinecke, Jens; Wolf, Sebastian; Burger, Robert; Gumpert, Thomas; Schmidt, Florian; Ott, Christian; Grebenstein, Markus; Albu‐Schäffer, Alin

doi:10.1109/humanoids.2016.7803359

Cited by 22 publications

(22 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…On the planar SEA robot C-Runner we evaluated a multi-step walking trajectory, stepping up an obstacle and jumping on the spot. Hardware details about the robot are available in [22]. C-Runner is a planar walking robot with modular actuation and a weight of 67 kg.…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots

Werner

Turlej

Ott

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

Series-elastic and viscoelastic robots can provide performance gains in applications with high dynamics. Harnessing these, requires an understanding of the dynamics of the system, which can be gained using optimization-based methods. The result are motions which make optimal use of the intrinsic behavior, possibly exceeding the performance of an equivalent rigid-body robot. We present a collocation framework which enables both automatic computation of contactswitching patterns and allows the full utilization of the dynamics of the compliant system. The formulation also addresses the problem of redundant torque generation in viscoelastic actuators. The effectiveness of this method was demonstrated in simulations as well as experiments with a compliant bipedal robot. The approach is capable of providing gait primitives, longer gait sequences containing multiple steps as well as generating extremely dynamic motions, e.g. somersaults.

show abstract

Section: Resultsmentioning

confidence: 99%

“…This formulation can also describe biarticular couplings which do not connect motor and link side. A motivation for these can be found in [22]. It also illustrates the fourth order system dynamics which dominate the problem, especially in systems where D is zero.…”

Section: Problem Statementmentioning

confidence: 97%

Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots

Werner

Turlej

Ott

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

View full text Add to dashboard Cite

show abstract

“…1). Each degree of freedom is independently driven by a DC motor through a mechanism of cable, pulley and spring [22]. A set of generalized coordinates q = [x st , z st , q st , q 1 , ..., q 6 ]…”

Section: Simulation Resultsmentioning

confidence: 99%

Passivity-based control of underactuated biped robots within hybrid zero dynamics approach

Sadeghian

Ott

Garofalo

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

View full text Add to dashboard Cite

The concept of hybrid zero dynamics is a promising approach for designing exponentially stabilizing controllers for dynamic walking with some degrees of underactuation. By this approach a feedback controller is designed such that a stable periodic orbit, within an invariant submanifold for the hybrid closed-loop system is created. This is usually achieved through an exponentially fast dynamics transverse to the zero dynamics manifold and the stability properties of such periodic orbit is then transferred to the full-order dynamic system. In this paper a passivity-based controller for a planar biped with one degree of underactuation is designed. By this approach we aim to preserve the natural dynamics of the system in the transverse dynamics (i.e. the dynamics transverse to the zero dynamics manifold) in contrast to the common inputoutput linearization method which cancels these dynamics. A Lyapunov stability analysis of the full-order system based on the conditional stability theorem is presented. By this analysis, the asymptotic stability of the periodic orbit in lower dimensional state space is extended to the full dimensional space. The results of the analysis are verified by simulation on a seven-link biped robot walking with zero ankle torque in sagittal plane.

show abstract

“…when facing perturbations, sensory feedback pathways can be used. In that context, leg force feedback could coordinate subfunctions [146], (e) C-Runner humanoid running machine [124,147], (f ) CARL robot [148] and (g) Jena Walker II [149]. Note that some of the shown robots also cover multiple subfunctions, but were arranged according to the main functional contribution of biarticular actuation.…”

Section: Biarticular Structures In Legged Robotsmentioning

confidence: 99%

Biarticular muscles in light of template models, experiments and robotics: a review

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

View full text Add to dashboard Cite

Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono-and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono-and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms. royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413 royalsocietypublishing.org/journal/rsif J. R. Soc. Interface 17: 20180413

show abstract

The DLR C-runner: Concept, design and experiments

Cited by 22 publications

References 15 publications

Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots

Generation of locomotion trajectories for series elastic and viscoelastic bipedal robots

Passivity-based control of underactuated biped robots within hybrid zero dynamics approach

Biarticular muscles in light of template models, experiments and robotics: a review

Contact Info

Product

Resources

About