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Bio-inspired motion control of the musculoskeletal BioBiped1 robot based on a learned inverse dynamics model

Bio-inspired motion control of the musculoskeletal BioBiped1...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Dorian Scholz Stefan Kurowski Katayon Radkhah Oskar von Stryk Systems Optimization and Robotics Group Computer Science Technische Universität Darmstadt Darmstadt Germany Simulation Systems Optimization and Robotics Group Computer Science Technische Universität Darmstadt Germany

Based on the central hypothesis that a humanoid robot with human-like walking and running performance re- quires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBipedl robot is presented in this paper. This approach combines feed- forward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot's body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints.

关键词： Robots Heuristic algorithms Hip Biomechanics

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Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity

Simulation of dynamics and realistic contact forces for mani...

引用

International Conference on Advanced robotics (ICAR)

作者： Thomas Lens Katayon Radkhah Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany

In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors' group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.

关键词： Computational modeling Mathematical model Friction Robots Force Object oriented modeling Biological system modeling

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The musculoskeletal system of the human arm — More than the sum of its parts

The musculoskeletal system of the human arm — More than the...

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IEEE International Conference on robotics and Biomimetics

作者： Sebastian Klug Thomas Lens Michael Nogler Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany Institute of Experimental Orthopedics Medical University of Innsbruck Austria

Biological systems show outstanding performance in the control of highly redundant and nonlinear systems. The complexity of these systems has raised questions about sufficient strategies of planning and controlling movements. Although many aspects of the musculoskeletal system, like nonlinear muscle properties, redundant actuation, and mechanically coupled joints, seem to make things more complicate from a purely technical point of view, this complexity has positive influence on the control. In this paper we show first aspects on how the nonlinear characteristics of the musculoskeletal system of the human arm may influence and even support the control of movements.

关键词： Muscles Robots Mathematical model Joints Biological system modeling Torque

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Model-based Off-line Compensation of Path Deviation for Industrial Robots in Milling Applications

Model-based Off-line Compensation of Path Deviation for Indu...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： C. Reinl M. Friedmann J. Bauer M. Pischan E. Abele O. von Stryk Simulation Systems Optimization and Robotics Group Institute of Production Management Technology and Machine Tools Technische Universitat Darmstadt Germany

ISBN: (纸本)9781457708381

The scope of applications for industrial robots is limited in cases with strong forces at the end effector and high positioning and path accuracies required. Thus, their use in machining applications as a cost-saving, flexible alternative for machining tools is restricted due to mechanical compliance. A model-based off-line concept is presented to analyze, predict, and compensate the resulting path deviation of the robot under process force in milling applications. For this purpose a rigid multi-body dynamics model of the robot extended with additional joint elasticities and tilting effects is coupled with a material removal simulation providing the process forces. After systematically adjusting model parameters, an efficient simulation-based path correction strategy shows significant improvements of path accuracy. The general framework is applicable to any tree structured robots and allows for sensitivity analysis with respect to arbitrary model parameters.

关键词： Joints Milling Robot sensing systems Solid modeling Computational modeling Force

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Towards human-like bipedal locomotion with three-segmented elastic legs

Towards human-like bipedal locomotion with three-segmented e...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Radkhah, Katayon Scholz, Dorian Von Stryk, Oskar Maus, Moritz Seyfarth, Andre Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany Locomotion Laboratory University of Jena Germany

ISBN: (纸本)9781617387197

The long-Term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multi-modal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design.

关键词： Energy efficiency

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BioRob-Arm: A quickly deployable and intrinsically safe, light-weight robot arm for service robotics applications

BioRob-Arm: A quickly deployable and intrinsically safe, lig...

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Joint 41st International Symposium on robotics, ISR 2010 and 6th German Conference on robotics 2010, ROBOTIK 2010

作者： Lens, Thomas Kunz, Jürgen Von Stryk, Oskar Trommer, Christian Karguth, Andreas Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany TETRA Gesellschaft für Sensorik Robotik und Automation Ilmenau Germany

ISBN: (纸本)9781617387197

Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.

关键词： Industrial manipulators

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BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light-Weight Robot Arm for Service robotics Applications.

BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Lig...

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Joint international symposium on robotics

作者： Thomas Lens Juergen Kunz Christian Trommer Andreas Karguth Oskar von Stryk Systems Optimization and Robotics Group Technische Universitat Darmstadt TETRA Gesellschaft fur Sensorik

ISBN: (纸本)9783800732739

关键词： Joints Safety Service robots Robot sensing systems Collision avoidance Education

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Efficient communication in autonomous robot software

Efficient communication in autonomous robot software

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Dirk Thomas Oskar von Stryk Simulation Systems Optimization and Robotics Group Computer Science Technische Universität Darmstadt Darmstadt Germany

Software for autonomous robots solving challenging tasks in research or application is becoming increasingly complex. System integration has to deal with various different functional components. To decouple those components from each other and to enable a modular and reuseable software architecture a robot middleware is typically used. But this intermediate layer introduces significant additional overhead during run-time. In this work a methodology is described to utilize specific application characteristics to improve communication efficiency between different robot software modules. By composing several components in a single thread memory copying or locking operations can be avoided, when data is exchanged between those parts. The optimization can be achieved without compromising the advantages of a communication layer. Still the modifications are transparent to the maybe already existing components. Experimental results in the scenario of autonomous soccer-playing humanoid robots are presented and exhibit remarkable reduction in communication overhead. Furthermore this approach can be implemented in or on-top of other communication layers.

关键词： Middleware Instruction sets optimization Robot sensing systems Mobile robots

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Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs

Towards Human-Like Bipedal Locomotion with Three-Segmented E...

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Joint international symposium on robotics

作者： Katayon Radkhah Dorian Scholz Oskar von Stryk Moritz Maus Andre Seyfarth Simulation Systems Optimization and Robotics Group Technische Universitat Darmstadt Germany Locomotion Laboratory University of Jena Germany

ISBN: (纸本)9781617387197

The long-term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multi-modal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design.

关键词： Legged locomotion Joints Leg Humans Springs Robot sensing systems

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On the influence of elastic actuation and monoarticular structures in biologically inspired bipedal robots

On the influence of elastic actuation and monoarticular stru...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Katayon Radkhah Thomas Lens Andre Seyfarth Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany Locomotion Laboratory University of Jena Germany

Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects revealed that the control complexity can be drastically reduced by designing mechanically intelligent systems with self-stabilization structures. Breaking through the latter obstacle can be achieved by the development and use of compliant actuators. Mechanical elasticity and its online adaptation in legged systems are generally accepted as the technologies to achieve human-like mobility. However, elastic actuation does not necessarily result in energy-efficient systems. We show that mechanical elasticity, although being worthwhile, can have negative effects on the performance of drives. We present a methodology that introduces both elasticity and energy-efficiency to a bipedal model. To this end, we report on the influence of monoarticular structures and demonstrate that these structures have the potential to both take us a step further toward the goal of realizing human-like locomotion and reduce the energy consumption.

关键词： Joints Legged locomotion Actuators Leg Hip Trajectory

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