A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots

Kurowski, Stefan; Stryk, Oskar von

doi:10.1109/iros.2015.7353906

Cited by 5 publications

(3 citation statements)

References 15 publications

(19 reference statements)

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“…Each leg has two rotational degrees of freedom (pitch and roll) in the hip and one rotational degree of freedom (pitch). As depicted in Figure 11, for BioBiped1 [91] and BioBiped2 [92], the hip joint is powered by a SEA which is realized by a geared electric motor in connection with built-in translational springs. The knee and ankle joints adopt SEAs to achieve extension motion, while the flexion motion is performed passively by a translational spring with cable connections.…”

Section: Integrating Multiple Categories Of Compliance In a Legmentioning

confidence: 99%

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Chen

Liang

Zhu

et al. 2019

Sensors

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Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article presents a review of the exploitation of physical compliance in robotic legs. Particular attention has been paid to the segmented, electrically actuated robotic legs, such that a comparable analysis can be provided. The utilization of physical compliance is divided into three main categories, depending on the setting locations and configurations, namely, (1) joint series compliance, (2) joint parallel compliance, and (3) leg distal compliance. With an overview of the representative work related to each category, the corresponding working principles and implementation processes of various physical compliances are explained. After that, we analyze in detail some of the structural characteristics and performance influences of the existing designs, including the realization method, compliance profile, damping design, and quantitative changes in terms of mechanics and energetics. In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed. This article is expected to provide useful paradigmatic implementations and design guidance for physical compliance for researchers in the construction of novel physically compliant robotic legs.

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Section: Integrating Multiple Categories Of Compliance In a Legmentioning

confidence: 99%

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Chen

Liang

Zhu

et al. 2019

Sensors

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“…Also, morphological computation, which involves the robot body contributing to overall orchestration of intelligent robot behavior, is at an early stage of development. The combination of soft robotics and morphological computing is analogous with structuring of human psychomotor functioning where morphology facilitates perception and control, and so may eventually facilitate robot conformance to PLPA [ 100 , 101 , 102 , 103 ]. However, the transfer of psychomotor skills to new settings is an unresolved challenge, which limits the potential of robots to function without supervision in heterogeneous work [ 104 , 105 , 106 , 107 ].…”

Section: Workers: Plpa and Human Cyborg Robot Psychomotor Skillsmentioning

confidence: 99%

Principle of Least Psychomotor Action: Modelling Situated Entropy in Optimization of Psychomotor Work Involving Human, Cyborg and Robot Workers

Fox¹,

Kotelba²

2018

Entropy

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Entropy in workplaces is situated amidst workers and their work. In this paper, findings are reported from a study encompassing psychomotor work by three types of workers: human, cyborg and robot; together with three aspects of psychomotor work: setting, composition and uncertainty. The Principle of Least Psychomotor Action (PLPA) is introduced and modelled in terms of situated entropy. PLPA is founded upon the Principle of Least Action. Situated entropy modelling of PLPA is informed by theoretical studies concerned with connections between information theory and thermodynamics. Four contributions are provided in this paper. First, the situated entropy of PLPA is modelled in terms of positioning, performing and perfecting psychomotor skills. Second, with regard to workers, PLPA is related to the state-of-the-art in human, cyborg and robot psychomotor skills. Third, with regard to work, situated entropy is related to engineering of work settings, work composition and work uncertainty. Fourth, PLPA and modelling situated entropy are related to debate about the future of work. Overall, modelling situated entropy is introduced as a means of objectively modelling relative potential of humans, cyborgs, and robots to carry out work with least action. This can introduce greater objectivity into debates about the future of work.

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“…Some scholars have also planned robot movements based on biological inspiration [ 11 , 12 , 13 ]. Through evolution, creatures have formed skillful mechanism structures and nimble movement patterns.…”

Section: Introductionmentioning

confidence: 99%

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy

Zhu

Guo

Liu

et al. 2017

Sensors

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In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait.

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A systematic approach to the design of embodiment with application to bio-inspired compliant legged robots

Cited by 5 publications

References 15 publications

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Principle of Least Psychomotor Action: Modelling Situated Entropy in Optimization of Psychomotor Work Involving Human, Cyborg and Robot Workers

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy

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