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Dynamic Locomotion Conference Paper Power to the springs: Passive elements are sufficient to drive push-off in human walking Buchmann, A., Kiss, B., Badri-Spröwitz, A., Renjewski, D. In Robotics in Natural Settings , 21-32, Lecture Notes in Networks and Systems, 530, (Editors: Cascalho, José M. and Tokhi, Mohammad Osman and Silva, Manuel F. and Mendes, Armando and Goher, Khaled and Funk, Matthias), Springer, Cham, 25th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machine (CLAWAR 2022), August 2022 (Published)
For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning the ankle joint play an important role: Gastrocnemius (GAS) and Soleus (SOL). GAS and SOL load the Achilles tendon to store elastic energy during stance followed by a rapid energy release during APO. We use a neuromuscular simulation (NMS) and a bipedal robot to investigate the role of GAS and SOL on the APO. We optimize the simulation for a robust gait and then sequentially replace the MTUs of (1) GAS, (2) SOL and (3) GAS and SOL by linear springs. To validate the simulation, we implement NMS-3 on a bipedal robot. Simulation and robot walk steady for all trials showing an impulsive APO. Our results imply that the elastic MTU properties shape the impulsive APO. For prosthesis or robot design that is, no complex ankle actuation is needed to obtain an impulsive APO, if more mechanical intelligence is incorporated in the design.
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Dynamic Locomotion Intelligent Control Systems Conference Paper A little damping goes a long way Heim, S., Millard, M., Mouel, C. L., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E367-E367, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021) , March 2021 (Published) DOI URL BibTeX
Dynamic Locomotion Conference Paper Viscous damping in legged locomotion Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E1203-E1204, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), March 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Associating functional morphology of the lumbosacral organ and locomotion modalities in avians Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E437-E437, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Developing a mechanical model for intraspinal mechanosensing in avians Mo, A., Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology , 61(Supplement 1):E618-E619, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Effects of tendon-network mechanisms on avian terrestrial locomotion Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E89-E90, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 DOI URL BibTeX
Dynamic Locomotion Conference Paper Simulating the response of a neuro-musculoskeletal model to assistive forces: implications for the design of wearables compensating for motor control deficits Stollenmaier, K., Rist, I., Izzi, F., Haeufle, D. F. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob 2020), 779-784, IEEE, Piscataway, NJ, 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob 2020), October 2020 (Published)
Models of the human arm may help to estimate design parameters like peak torque and power of wearable assistive devices by predicting required forces to compensate for motor control impairments. This work focuses on the idea of compensating hypermetria (overshoot)-a motor control deficit that may occur in neurodegenerative diseases-by a simple assistive device. As musculoskeletal dynamics play an important role in the interaction between an assistive device and the neuro-musculoskeletal system, we hypothesized that their consideration in the model might influence the predicted design parameters. To test this, we simulated two-degree-of-freedom point-to-point arm movements. By introducing inconsistent neuronal control parameters, we induced hypermetria. We implemented mechanical and low-level assistive torque strategies in simulation which lead to a reduction of hypermetria. We found that-depending on the type of assistance-the predicted torques and powers can differ by more than a factor of 10 between musculoskeletal and torque-driven arm models. We conclude that the magnitude of torque and power required to reduce hypermetria by simple wearable assistive devices may be significantly underestimated if muscle-tendon characteristics are not considered.
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Dynamic Locomotion Conference Paper FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain Ruppert, F., Badri-Spröwitz, A. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), 4810-4816, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020) , May 2020 (Published)
In this paper, we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical devices, force plates and pressure plates. We show that FootTile can accurately estimate force and pressure distribution during legged locomotion. FootTile weighs 0.9g, has a sampling rate of 330 Hz, a footprint of 10×10 mm and can easily be adapted in sensor range to the required load case. In three experiments, we validate: first, the performance of the individual sensor, second an array of FootTiles for center of pressure sensing and third the ground reaction force estimation during locomotion in granular substrate. We then go on to show the accurate sensing capabilities of the waterproof sensor in liquid mud, as a showcase for real world rough terrain use.
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Dynamic Locomotion Conference Paper Shaping in Practice: Training Wheels to Learn Fast Hopping Directly in Hardware Heim, S., Ruppert, F., Sarvestani, A., Sproewitz, A. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2018, 5076-5081, IEEE, International Conference on Robotics and Automation, May 2018 (Published)
Learning instead of designing robot controllers can greatly reduce engineering effort required, while also emphasizing robustness. Despite considerable progress in simulation, applying learning directly in hardware is still challenging, in part due to the necessity to explore potentially unstable parameters. We explore the of concept shaping the reward landscape with training wheels; temporary modifications of the physical hardware that facilitate learning. We demonstrate the concept with a robot leg mounted on a boom learning to hop fast. This proof of concept embodies typical challenges such as instability and contact, while being simple enough to empirically map out and visualize the reward landscape. Based on our results we propose three criteria for designing effective training wheels for learning in robotics.
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Dynamic Locomotion Conference Paper Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders Sproewitz, A., Göttler, C., Sinha, A., Caer, C., Öztekin, M. U., Petersen, K., Sitti, M. In Proceedings 2017 IEEE International Conference on Robotics and Automation (ICRA), 64-70, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 Video DOI URL BibTeX
Dynamic Locomotion Conference Paper Linking Mechanics and Learning Heim, S., Grimminger, F., Drama, Ö., Spröwitz, A. In Proceedings of Dynamic Walking 2017, 2017 (Published) BibTeX