title: A new biarticular actuator design facilitates control of leg function in BioBiped3.
abstract: Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.
authors.affiliation: Lauflabor Locomotion Laboratory, Technische Universität Darmstadt, Germany. School of ECE, College of Engineering, University of Tehran, Iran.
authors.forename: Maziar Ahmad
authors.initials: MA
authors.lastname: Sharbafi
authors.forename: Christian
authors.initials: C
authors.lastname: Rode
authors.forename: Stefan
authors.initials: S
authors.lastname: Kurowski
authors.forename: Dorian
authors.initials: D
authors.lastname: Scholz
authors.forename: Rico
authors.initials: R
authors.lastname: Möckel
authors.forename: Katayon
authors.initials: K
authors.lastname: Radkhah
authors.forename: Guoping
authors.initials: G
authors.lastname: Zhao
authors.forename: Aida Mohammadinejad
authors.initials: AM
authors.lastname: Rashty
authors.forename: Oskar von
authors.initials: Ov
authors.lastname: Stryk
authors.forename: Andre
authors.initials: A
authors.lastname: Seyfarth
mesh_terms: D000818:Animals; D001186:Artificial Limbs; D040761:Biomimetic Materials; D003187:Compliance / Q000502:physiology; D004734:Energy Metabolism / Q000502:physiology; D007839:Functional Laterality; D006801:Humans; D007866:Leg / Q000502:physiology*; D008124:Locomotion / Q000502:physiology*; D018482:Muscle, Skeletal / Q000502:physiology*; D004856:Postural Balance / Q000502:physiology; D012371:Robotics; D012984:Software