Abstract
This paper studies push recovery of humans while walking which is an important research topic in biomechanics and robotics bringing systems to their limits. The main goal of the presented research is to determine which passive elements can best support given push recovery motions. The research is based on a multi-body system model of human walking in the sagittal plane, which has active torques in all joints and parameterized spring damper torques in parallel in the lower limb joints. In addition, we use recorded data of human push recovery and the solution of least squares optimal control problems. The results show that a significant reduction of the active torques required for the motion can be achieved including the spring-damper elements. This approach can be applied to component design of humanoid robots.
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Acknowledgement
The research leading to these results has received funding from the European Union Seventh Framework Program (FP7/2007 - 2013) under grant agreement no 611909 (KoroiBot) and from the HGS MathComp Heidelberg Graduate School. We want to thank the Simulation and Optimization research group of the IWR at Heidelberg University for giving us the possibility to work with MUSCOD-II. We also want to thank T. Asfour and co-workers, KIT, Karlsruhe for providing the MMM framework. Furthermore we want to thank M. Giese and E. Chiovetto from CIN in Tübingen for providing the motion capture lab and help to record and process the data.
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Kopitzsch Schemschat, R.M., Mombaur, K. (2018). Using Spring-Damper Elements to Support Human-Like Push Recovery Motions. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_26
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DOI: https://doi.org/10.1007/978-3-319-61276-8_26
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