Sharbafi Maziar Ahmad, Rode Christian, Kurowski Stefan, Scholz Dorian, Möckel Rico, Radkhah Katayon, Zhao Guoping, Rashty Aida Mohammadinejad, Stryk Oskar von, Seyfarth Andre
Lauflabor Locomotion Laboratory, Technische Universität Darmstadt, Germany. School of ECE, College of Engineering, University of Tehran, Iran.
Bioinspir Biomim. 2016 Jul 1;11(4):046003. doi: 10.1088/1748-3190/11/4/046003.
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.
受生物启发的腿部运动包含不同方面，例如：（i）受益于在人类/动物中观察到的简化控制方法；（ii）将实体与控制器相结合；以及（iii）反映神经控制机制。从自然界学到的最重要的经验之一是顺应性在简化控制、提高能量效率以及增强腿部运动对扰动的鲁棒性方面的重要作用。在本研究中，我们探究身体形态与致动器设计相结合如何促进腿部功能的运动控制。受人类腿部肌肉系统的启发，我们表明双关节肌肉在平衡上半身、关节协调和摆动腿控制方面具有关键作用。适当调整双关节弹簧的静止长度和刚度可以简化控制并降低能量消耗。为了验证这些发现，开发了BioBiped3机器人，它是BioBiped系列受生物启发的顺应性肌肉骨骼机器人的新版本。在这个机器人中，由单关节和双关节串联弹性致动器驱动的三段式腿部模仿了人类腿部的九个主要肌肉群。通过BioBiped3中的新型双关节致动器，展示并验证了用于姿势平衡和反弹运动（下落跳跃）中关节协调的新型简化控制概念。
