We describe the design concepts of the modular humanoid robot Myon, which can be disassembled and reassembled during runtime. The body parts are fully autonomous in a threefold sense: they all possess their own energy supply, processing power, and a neural network topology which allows for stand-alone operation of single limbs. The robot has especially been designed for robustness and easy maintenance. It exhibits a combination of an endoskeleton with an exoskeleton, the latter of which can manually be detached without the need for technical equipment. One of the essential parts is a novel flange which firmly connects the body parts mechanically, whilst at the same time relaying the power supply lines and sensorimotor signals. We also address the details of the antagonistic and compliant actuation system which not only protects the gears against high impact forces but also enables biologically inspired joint control.

Recovering balance from unknown disturbances can be considered a complex sensorimotor ability of humanoid robots. We present so-called Cognitive Sensorimotor Loops (CSLs), discuss their properties and show how they can be used for motion generation and balance recovery on robots. Their behavioral abilities will be demonstrated on a single robot leg controlled by CSLs and we will show that a complex stand-up motion can emerge from the interplay of independent joint controllers. Furthermore, we explain how CSLs can be used to help a robot to adapt to changing slopes and recover balance after disturbance.

No abstract

No abstract