ArticleFrontiers in neurorobotics2022
Exploring the effects of serial and parallel elasticity on a hopping robot.
Article in Frontiers in neurorobotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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3 citing papers in PubMed, 11 citations in OpenAlex.
- Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots.Biomimetics (Basel, Switzerland) · 2024Article
- Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion.Scientific reports · 2023Article
- Enhancing postural stability in a musculoskeletal hopping robot through stretch reflex application on biarticular thigh muscles.Frontiers in robotics and AI · 2023Article
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Authors and funding
5 authors at 1 institution in 1 country.
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Abstract
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.
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