Back to Search Start Over

Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots.

Authors :
Silva, Alessandro Brugnera
Murcia, Marc
Mohseni, Omid
Takahashi, Ryu
Forner-Cordero, Arturo
Seyfarth, Andre
Hosoda, Koh
Sharbafi, Maziar Ahmad
Source :
Biomimetics (2313-7673). Mar2024, Vol. 9 Issue 3, p164. 20p.
Publication Year :
2024

Abstract

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric–pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions—stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
23137673
Volume :
9
Issue :
3
Database :
Academic Search Index
Journal :
Biomimetics (2313-7673)
Publication Type :
Academic Journal
Accession number :
176272575
Full Text :
https://doi.org/10.3390/biomimetics9030164