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Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg

Zhao, Guoping ; Szymanski, Florian ; Seyfarth, Andre (2021):
Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg. (Publisher's Version)
In: Bioinspiration & Biomimetics, 15 (2), IOP Publishing, ISSN 1748-3190, e-ISSN 1748-3190,
DOI: 10.26083/tuprints-00019332,
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Item Type: Article
Origin: Secondary publication via sponsored Golden Open Access
Status: Publisher's Version
Title: Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg
Language: English
Abstract:

It has been shown that human-like hopping can be achieved by muscle reflex control in neuromechanical simulations. However, it is unclear if this concept is applicable and feasible for controlling a real robot. This paper presents a low-cost two-segmented robotic leg design and demonstrates the feasibility and the benefits of the bio-inspired neuromuscular reflex based control for hopping. Simulation models were developed to describe the dynamics of the real robot. Different neuromuscular reflex pathways were investigated with the simulation models. We found that stable hopping can be achieved with both positive muscle force and length feedback, and the hopping height can be controlled by modulating the muscle force feedback gains with the return maps. The force feedback neuromuscular reflex based controller is robust against body mass and ground impedance changes. Finally, we implemented the controller on the real robot to prove the feasibility of the proposed neuromuscular reflex based control idea. This paper demonstrates the neuromuscular reflex based control approach is feasible to implement and capable of achieving stable and robust hopping in a real robot. It provides a promising direction of controlling the legged robot to achieve robust dynamic motion in the future.

Journal or Publication Title: Bioinspiration & Biomimetics
Journal volume: 15
Number: 2
Publisher: IOP Publishing
Collation: 12 Seiten
Classification DDC: 700 Künste und Unterhaltung > 796 Sport
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 24 Aug 2021 07:15
Last Modified: 24 Aug 2021 07:16
DOI: 10.26083/tuprints-00019332
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-193325
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/19332
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