A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Frund, Konrad; Shu, Anton Leonhard; Loeffl, Florian; Ott, Christian

doi:10.1109/humanoids53995.2022.10000126

Cited by 4 publications

(2 citation statements)

References 35 publications

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“…However, in most current kinematic leg models of insects, including Drosophila , the joint rotational axes were positioned generically perpendicular to the leg segments, an assumption that need not be true. Rotational axes of biological joints commonly show oblique orientations ( Krause and Dürr, 2004 ; Rubenson et al, 2007 ; Frund et al, 2022 ), which should consequently affect not only the joint kinematics, but also other biomechanical aspects such as joint torques, the required muscle activation pattern, and, ultimately, the underlying neuronal control.…”

Section: Introductionmentioning

confidence: 99%

A leg model based on anatomical landmarks to study 3D joint kinematics of walking in Drosophila melanogaster

Haustein,

Blanke,

Bockemühl

et al. 2024

Front. Bioeng. Biotechnol.

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Walking is the most common form of how animals move on land. The model organism Drosophila melanogaster has become increasingly popular for studying how the nervous system controls behavior in general and walking in particular. Despite recent advances in tracking and modeling leg movements of walking Drosophila in 3D, there are still gaps in knowledge about the biomechanics of leg joints due to the tiny size of fruit flies. For instance, the natural alignment of joint rotational axes was largely neglected in previous kinematic analyses. In this study, we therefore present a detailed kinematic leg model in which not only the segment lengths but also the main rotational axes of the joints were derived from anatomical landmarks, namely, the joint condyles. Our model with natural oblique joint axes is able to adapt to the 3D leg postures of straight and forward walking fruit flies with high accuracy. When we compared our model to an orthogonalized version, we observed that our model showed a smaller error as well as differences in the used range of motion (ROM), highlighting the advantages of modeling natural rotational axes alignment for the study of joint kinematics. We further found that the kinematic profiles of front, middle, and hind legs differed in the number of required degrees of freedom as well as their contributions to stepping, time courses of joint angles, and ROM. Our findings provide deeper insights into the joint kinematics of walking in Drosophila, and, additionally, will help to develop dynamical, musculoskeletal, and neuromechanical simulations.

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Section: Introductionmentioning

confidence: 99%

A leg model based on anatomical landmarks to study 3D joint kinematics of walking in Drosophila melanogaster

Haustein,

Blanke,

Bockemühl

et al. 2024

Front. Bioeng. Biotechnol.

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“…The research about bioinspired mechanisms is mainly conducted by observing animal behavior and then analyzing their e.g. kinematics or anatomy to extract principles and mechanisms like closed kinematic chains or oblique axes which offer new mechanisms for the field of humanoid robots [5], [6]. These studies have inspired leg designs like the Bird Bot or others [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion

Fründ,

Beck,

Shu

et al. 2023

2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)

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The field of humanoid robots has grown in recent years with several companies and research laboratories developing new humanoid systems. However, the number of running robots did not noticeably rise. Despite the need for fast locomotion to quickly serve given tasks, which require traversing complex terrain by running and jumping over obstacles. To provide an overview of the design of humanoid robots with bioinspired mechanisms, this paper introduces the fundamental functions of the human running gait. The paper surveys multiple concepts, i.e. to protect the system against impacts, store kinetic energy at touchdown, use natural dynamics, and transfer energy between joints through couplings. The understanding of the fundamental functions can support engineers to design versatile humanoid robots, without sacrificing versatility against capability.

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A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

Haustein,

Blanke,

Bockemühl

et al. 2024

Preprint

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Walking is the most common form of how animals move on land. The model organismDrosophila melanogasterhas become increasingly popular for studying how the nervous system controls behavior in general and walking in particular. Despite recent advances in tracking and modeling leg movements of walkingDrosophilain 3D, there are still gaps in knowledge about the biomechanics of leg joints due to the tiny size of fruit flies. For instance, the natural alignment of joint rotational axes was largely neglected in previous kinematic analyses. In this study we therefore present a detailed kinematic leg model in which not only the segment lengths but also the main rotational axes of the joints were derived from anatomical landmarks, namely the joint condyles. Our model with natural oblique joint axes is able to adapt to the 3D leg postures of straight and forward walking fruit flies with high accuracy. When we compared our model to an orthogonalized version, we observed that our model showed a smaller error as well as differences in the used range of motion (ROM), highlighting the advantages of modeling natural rotational axes alignment for the study of joint kinematics. We further found that the kinematic profiles of front, middle, and hind legs differed in the number of required degrees of freedom as well as their contributions to stepping, time courses of joint angles, and ROM. Our findings provide deeper insights into the joint kinematics of walking inDrosophila, and, additionally, help to develop dynamical, musculoskeletal, and neuromechanical simulations.

show abstract

A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Cited by 4 publications

References 35 publications

A leg model based on anatomical landmarks to study 3D joint kinematics of walking in Drosophila melanogaster

A leg model based on anatomical landmarks to study 3D joint kinematics of walking in Drosophila melanogaster

Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion

A leg model based on anatomical landmarks to study 3D joint kinematics of walking inDrosophila melanogaster

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