Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity
Verstraten T, Schumacher C, Furnemont R, Seyfarth A, Beckerle P (2020)
Publication Type: Journal article
Publication year: 2020
Journal
Book Volume: 17
Pages Range: 695-707
Journal Issue: 4
DOI: 10.1007/s42235-020-0062-z
Abstract
Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore omni-present in our physiology. The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator (SEDMA), an actuator inspired by the kinematic redundancy exhibited by myofibrils. The actuator consists of two motors coupled to a single spring at the output. Such a system has a redundant degree of freedom, which can be exploited to optimize aspects such as accuracy, impedance, fault-tolerance and energy efficiency. To test its potential for human-like motions, the SEDMA actuator is implemented in a hopping robot. Experiments on a physical demonstrator show that the robot’s movement patterns resemble human squat jumps. We conclude that robots with bio-inspired actuator designs facilitate human-like movement, although current technical limitations may prevent them from reaching the same dynamic and energetic performance.
Authors with CRIS profile
Involved external institutions
Vrije Universiteit Brussel (VUB)
Belgium (BE)
Technische Universität Darmstadt
Germany (DE)
Technische Universität Dortmund
Germany (DE)
Belgium (BE)
Technische Universität Darmstadt
Germany (DE)
Technische Universität Dortmund
Germany (DE)
How to cite
APA:
Verstraten, T., Schumacher, C., Furnemont, R., Seyfarth, A., & Beckerle, P. (2020). Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity. Journal of Bionic Engineering, 17(4), 695-707. https://dx.doi.org/10.1007/s42235-020-0062-z
MLA:
Verstraten, Tom, et al. "Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity." Journal of Bionic Engineering 17.4 (2020): 695-707.
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