Carl — A compliant robotic leg featuring mono- and biarticular actuation

Schütz, Steffen; Nejadfard, Atabak; Mianowski, K.; Vonwirth, Patrick; Berns, Karsten

doi:10.1109/humanoids.2017.8246888

Cited by 18 publications

(12 citation statements)

References 14 publications

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“…A musculoskeletal structure with biarticular actuation reduces the control bandwidth requirements and allows for coordination and energy transfer between two joints to improve on efficiency [43-45•]. The usage of flexible elements and tendons improves on compliance and shockloading of the limbs [46]. As shown, the co-location of tendons with the skeleton-known as tensegritygreatly reduces the stress on structural parts and allows for using lighter parts, resulting in improved dynamic performance [47].…”

Section: Mechanical Structurementioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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Purpose of Review As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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Section: Mechanical Structurementioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

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“…A musculoskeletal structure with biarticular actuation reduces the control bandwidth requirements and allows for coordination and energy transfer between two joints to improve on efficiency [43][44] [45]. The usage of flexible elements and tendons improves on compli-ance and shock-loading of the limbs [46]. As shown, the co-location of tendons with the skeleton-known as tensegrity-greatly reduces the stress on structural parts and allows for using lighter parts, resulting in improved dynamic performance [47].…”

Section: D)mentioning

confidence: 99%

Bipedal Humanoid Hardware Design: A Technology Review

Ficht¹,

Behnke²

2021

Preprint

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Purpose of ReviewAs new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion is necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

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“…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%

“…Selection of simple and complex legged robots using biarticular actuation in the spectrum of locomotor subfunctions. (a) Biarticular legged robot [144,145], (b) BioBiped [117], (c) Pneumat-BS [134], (d ) Pneumat-BB [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.…”

mentioning

confidence: 99%

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

Schumacher

Sharbafi

Seyfarth

et al. 2020

J. R. Soc. Interface.

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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

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Carl — A compliant robotic leg featuring mono- and biarticular actuation

Cited by 18 publications

References 14 publications

Bipedal Humanoid Hardware Design: a Technology Review

Bipedal Humanoid Hardware Design: a Technology Review

Bipedal Humanoid Hardware Design: A Technology Review

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

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