TU Darmstadt / ULB / TUprints

Exploring the effects of serial and parallel elasticity on a hopping robot

Zhao, Guoping ; Mohseni, Omid ; Murcia, Marc ; Seyfarth, André ; Sharbafi, Maziar A. (2022)
Exploring the effects of serial and parallel elasticity on a hopping robot.
In: Frontiers in Neurorobotics, 2022, 16
doi: 10.26083/tuprints-00022335
Article, Secondary publication, Publisher's Version

[img] Text
Copyright Information: CC BY 4.0 International - Creative Commons, Attribution.

Download (2MB)
Item Type: Article
Type of entry: Secondary publication
Title: Exploring the effects of serial and parallel elasticity on a hopping robot
Language: English
Date: 12 September 2022
Place of Publication: Darmstadt
Year of primary publication: 2022
Publisher: Frontiers Media S.A.
Journal or Publication Title: Frontiers in Neurorobotics
Volume of the journal: 16
Collation: 14 Seiten
DOI: 10.26083/tuprints-00022335
Corresponding Links:
Origin: Secondary publication DeepGreen

The interaction between the motor control and the morphological design of the human leg is critical for generating efficient and robust locomotion. In this paper, we focus on exploring the effects of the serial and parallel elasticity on hopping with a two-segmented robotic leg called electric-pneumatic actuation (EPA)-Hopper. EPA-Hopper uses a hybrid actuation system that combines electric motors and pneumatic artificial muscles (PAM). It provides direct access to adjust the physical compliance of the actuation system by tuning PAM pressures. We evaluate the role of the serial and parallel PAMs with different levels of compliance with respect to four criteria: efficiency, performance, stability, and robustness of hopping against perturbations. The results show that the serial PAM has a more pronounced impact than the parallel PAM on these criteria. Increasing the stiffness of the serial PAM decreases the leg stiffness of the unloading phase during hopping. The stiffer the leg, the more efficient and the less robust the movement. These findings can help us further understand the human hopping mechanism and support the design and control of legged robots and assistive devices.

Uncontrolled Keywords: serial elasticity, parallel elasticity, hopping robot, pneumatic artificial muscle, hybrid actuation
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-223359
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: Zentrale Einrichtungen > Centre for Cognitive Science (CCS)
Date Deposited: 12 Sep 2022 13:07
Last Modified: 14 Nov 2023 19:05
SWORD Depositor: Deep Green
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/22335
PPN: 499556836
Actions (login required)
View Item View Item