Quick Search Adv. Search

Journal of Bionic Engineering ›› 2020, Vol. 17 ›› Issue (4): 695-707.doi: 10.1007/s42235-020-0062-z

Previous Articles     Next Articles

Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

Tom Verstraten1*, Christian Schumacher2, Raphaël Furnémont1, Andre Seyfarth2, Philipp Beckerle3,4   

  1. 1. Robotics and Multibody Mechanics Research Group (R&MM), Vrije Universiteit Brussel and Flanders Make, 
    Pleinlaan 2, 1050 Elsene, Belgium
    2. Institute of Sports Science, TU Darmstadt, Magdalenenstraße 27, 64289 Darmstadt, Germany
    3. Elastic Lightweight Robotics Group, Robotics Research Institute, TU Dortmund, Otto-Hahn-Straße 8, 44227 Dortmund, Germany
    4. Institüt fur Mechatronische Systeme im Maschinenbau, TU Darmstadt, Otto-Berndt-Straße 2, 64287 Darmstadt, Germany
  • Received:2020-08-15 Revised:2020-05-20 Accepted:2020-05-22 Online:2020-07-10 Published:2020-09-04
  • Contact: Tom Verstraten E-mail:Tom.Verstraten@vub.be
  • About author:Tom Verstraten1*, Christian Schumacher2, Rapha?l Furnémont1, Andre Seyfarth2, Philipp Beckerle3,4

Abstract: Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore omni-present in our physiology. The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator (SEDMA), an actuator inspired by the kinematic redundancy exhibited by myofibrils. The actuator consists of two motors coupled to a single spring at the output. Such a system has a redundant degree of freedom, which can be exploited to optimize aspects such as accuracy, impedance, fault-tolerance and energy efficiency. To test its potential for human-like motions, the SEDMA actuator is implemented in a hopping robot. Experiments on a physical demonstrator show that the robot’s movement patterns resemble human squat jumps. We conclude that robots with bio-inspired actuator designs facilitate human-like movement, although current technical limitations may prevent them from reaching the same dynamic and energetic performance.

Key words: bioinspired, redundant actuation, series elastic actuation, hopping robots, energy efficiency, human physiology