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primary topic: The role of compliance in humans and humanoid robots locomotion

The role of compliance in humans and humanoid robots locomotion
type: Article
abstract: We build robots that are meant to look and work like humans, with humans, inspired by humans. But many are the human characteristics that we have not yet understood, as humans are highly complex systems. One fundamental characteristic is compliance, which characterizes human movements. If our body was completely rigid, we would not be able to climb up trees or walk on mountainous paths as easily as we do. But despite being inspired to be a copy of human beings, humanoid robots had rigid links connected with rigid joints since their first appearance. It is only recently that they started to be more “human-like”, with the development of compliant actuators. In this thesis the objective is to analyze of the role of compliance in human walking and in humanoid robots motions. We model both the human body and humanoid robots as rigid multi-body systems. Both systems are highly redundant, reason for which optimization represents an essential tool to achieve our goals. In particular, we adopt optimal control approaches. In many state of the art compliant walking mechanisms, compliance is introduced at joint level by means of elastic components with constant stiffness, due to the difficulty of varying stiffness and the considerable dimensions of currently available variable stiffness actuators. This is the reason for which many studies focused on finding constant joint stiffness during human walking. However, biomechanics studies have shown that stiffness changes in human joints during movements. The questions we want to address are therefore: how does stiffness modulate during human walking and what is the influence of such modulations on the gait? To answer these questions, we used walking motions from motion capture data and a 2D dynamic model of the human body, where the actuation of the leg joints are modeled with torsional springs and bi-articular coupling springs with variable stiffness. We computed the stiffness profiles of these springs, which showed how stiffness c…
date: 2017
author list: authors
type: EPrint
type: DoctoralThesisEPrint
is part of: repository
has document: The role of compliance in humans and humanoid robots locomotion (PDF)
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subject: 500 Naturwissenschaften und Mathematik

The role of compliance in humans and humanoid robots locomotion (PDF)
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has file: YueHu_Dissertation_Jan2017.pdf
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Yue Hu
type: Person
given name: Yue
family name: Hu

The role of compliance in humans and humanoid robots locomotion (Other)
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The role of compliance in humans and humanoid robots locomotion (Other)
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The role of compliance in humans and humanoid robots locomotion (Other)
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The role of compliance in humans and humanoid robots locomotion (Other)
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The role of compliance in humans and humanoid robots locomotion (Other)
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primary topic: The role of compliance in humans and humanoid robots locomotion

500 Naturwissenschaften und Mathematik
type: Concept
preferred label: 500 Natural sciences and mathematics @en