Abstract
The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle architecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elastic biarticular structures in the leg, reducing the risk of over-extending individual joints.
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Scholz, D., Maufroy, C., Kurowski, S., Radkhah, K., von Stryk, O., Seyfarth, A. (2012). Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_24
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DOI: https://doi.org/10.1007/978-3-642-34327-8_24
Publisher Name: Springer, Berlin, Heidelberg
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