DocumentCode :
2614522
Title :
Compliant ankles and flat feet for improved self-stabilization and passive dynamics of the biped robot “RunBot”
Author :
Manoonpong, Poramate ; Kulvicius, Tomas ; Wörgötter, Florentin ; Kunze, Lutz ; Renjewski, Daniel ; Seyfarth, Andre
Author_Institution :
Bernstein Center for Comput. Neurosci., Univ. of Gottingen, Gottingen, Germany
fYear :
2011
fDate :
26-28 Oct. 2011
Firstpage :
276
Lastpage :
281
Abstract :
Biomechanical studies of human walking reveal that compliance plays an important role at least in natural and smooth motions as well as for self-stabilization. Inspired by this, we present here the development of a new lower leg segment of the dynamic biped robot "RunBot". This new lower leg segment features a compliant ankle connected to a flat foot. It is mainly employed to realize robust self-stabilization in a passive manner. In general, such self-stabilization is achieved through mechanical feedback due to elasticity. Using real-time walking experiments, this study shows that the new lower leg segment improves dynamic walking behavior of the robot in two main respects compared to an old lower leg segment consisting of rigid ankle and curved foot: 1) it provides better self-stabilization after stumbling and 2) it increases passive dynamics during some stages of the gait cycle of the robot; i.e., when the whole robot moves unactuated. As a consequence, a combination of compliance (i.e., the new lower leg segment) and active components (i.e., actuated hip and knee joints) driven by a neural mechanism (i.e., reflexive neural control) enables RunBot to perform robust self stabilization and at the same time natural, smooth, and energy efficient walking behavior without high control effort.
Keywords :
legged locomotion; robot dynamics; compliant ankles; dynamic biped robot; dynamic walking behavior; flat feet; robust self-stabilization; runbot; Foot; Hip; Joints; Knee; Legged locomotion; Springs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
ISSN :
2164-0572
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
Type :
conf
DOI :
10.1109/Humanoids.2011.6100804
Filename :
6100804
Link To Document :
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