Skip to main content
SpringerLink
Log in

Concepts of Softness for Legged Locomotion and Their Assessment

  • Conference paper
  • First Online:
Soft Robotics

  • 5693 Accesses

Abstract

In human and animal locomotion, compliant structures play an essential role in the body and actuator design. Recently, researchers have started to exploit these compliant mechanisms in robotic systems with the goal to achieve the yet superior motions and performances of the biological counterpart. For instance, compliant actuators such as series elastic actuators (SEA) can help to improve the energy efficiency and the required peak power in powered prostheses and exoskeletons. However, muscle function is also associated with damping-like characteristics complementing the elastic function of the tendons operating in series to the muscle fibers. Carefully designed conceptual as well as detailed motion dynamics models are key to understanding the purposes of softness, i.e. elasticity and damping, in human and animal locomotion and to transfer these insights to the design and control of novel legged robots. Results for the design of compliant legged systems based on a series of conceptual biomechanical models are summarized. We discuss how these models compare to experimental observations of human locomotion and how these models could be used to guide the design of legged robots and also how to systematically evaluate and compare natural and robotic legged motions.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Alexander RM (1976) Mechanics of bipedal locomotion. Perspectives in experimental biology, Oxford, UK Pergamon Press, pp 493–504

    Google Scholar 

  2. Blickhan R (1989) The spring-mass model for running and hopping. Journal of Biome-chanics 22:1217–1227

    Article  Google Scholar 

  3. Chung W, Fu LC, Hsu SH (2008) Motion Control. Chapter 6 of Springer Handbook of Robotics. Ed. by B. Siciliano, O. Khatib, pp 133–159

    Google Scholar 

  4. Damsgaard M, Rasmussen J, Christensen ST, Surma E, de Zee M (2006) Analysis of musculoskeletal systems in the AnyBody modeling system. Simulation Modelling Prac-tice and Theory 14:1100–1111

    Google Scholar 

  5. Delp SL, Anderson FC, Arnold AS, Loan P, Habib A, John CT, Guendelman E, Thelen DG (2007) OpenSim: Open-Source software to create and analyze dynamic simulations of movement. IEEE Transactions on Biomedical Engineering 54(11):1940–1950

    Article  Google Scholar 

  6. Desai R, Geyer H (2012) Robust swing leg placement under large disturbances. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO) pp 265–270

    Google Scholar 

  7. Endo K, Herr H (2009) A model of muscle-tendon function in human walking. IEEE In-ternational Conference on Robotics and Automation (ICRA) pp 1909–1915

    Google Scholar 

  8. Farley CT, Glasheen J, McMahon TA (1993) Running springs: speed and animal size. Journal of Experimental Biology 185(1):71–86

    Google Scholar 

  9. Farley CT, Gonzalez O (1996) Leg stiffness and stride frequency in human running. Journal of biomechanics, 29(2), 181–186

    Article  Google Scholar 

  10. Farley CT, Morgenroth DC (1999) Leg stiffness primarily depends on ankle stiffness dur-ing human hopping. Journal of biomechanics, 32(3):267–273

    Article  Google Scholar 

  11. Full R, Koditschek D (1999) Templates and anchors: neuromechanical hypotheses of legged locomotion on land. Journal of Experimental Biology 202:3325–3332

    Google Scholar 

  12. Geyer H, Seyfarth A, Blickhan R (2003) Positive force feedback in bouncing gaits?. Pro-ceedings of the Royal Society of London Series B: Biological Sciences 270(1529):2173–2183

    Google Scholar 

  13. Haeufle DFB, Grimmer S, Seyfarth A (2010) The role of intrinsic muscle properties for stable hopping—stability is achieved by the force-velocity relation. Bioinspiration and Biomimetics 5(1):016004

    Google Scholar 

  14. Haeufle DFB, Grimmer S, Kalveram KT, Seyfarth A (2012) Integration of intrinsic mus-cle properties, feed-forward and feedback signals for generating and stabilizing hopping. Journal of The Royal Society Interface 9(72):1458–1469

    Article  Google Scholar 

  15. Herr HM, McMahon TA (2000) A trotting horse model. The International Journal of Ro-botics Research 19(6):566–581

    Article  Google Scholar 

  16. Herr HM, Huang GT, McMahon TA (2002) A model of scale effects in mammalian quadrupedal running. Journal of Experimental Biology 205(7):959–967

    Google Scholar 

  17. Kajita, S., Espiau, B. (2008) Legged Robots. Chapter 16 of Springer Handbook of Robot-ics. Ed. by B. Siciliano, O. Khatib, pp 361–389

    Google Scholar 

  18. Kubo K, Kanehisa H, Takeshita D, Kawakami Y, Fukashiro S, Fukunaga T (2000) In vi-vo dynamics of human medial gastrocnemius muscle‐tendon complex during stretch‐shortening cycle exercise. Acta Physiologica Scandinavica 170(2):127–135

    Article  Google Scholar 

  19. Lens T, Radkhah K, von Stryk O (2011) Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity. International Confer-ence on Advanced Robotics (ICAR) pp 34–41

    Google Scholar 

  20. Lipfert SW, Günther M, Renjewski D, Grimmer S, Seyfarth A (2012) A model-experiment comparison of system dynamics for human walking and running. Journal of Theoretical Biology 292:11–17

    Article  Google Scholar 

  21. Maus H M, Lipfert SW, Gross M, Rummel J, Seyfarth A (2010) Upright human gait did not provide a major mechanical challenge for our ancestors. Nature Communications 1:70

    Article  Google Scholar 

  22. McMahon TA, Cheng GC (1990) The mechanics of running: how does stiffness couple with speed?. Journal of Biomechanics 23:65–78

    Article  Google Scholar 

  23. Radkhah K (2013) Advancing Musculoskeletal Robot Design for Dynamic and Energy-Efficient Bipedal Locomotion. PhD Thesis, TU Darmstadt, CS Dept.

    Google Scholar 

  24. Radkhah K, Lens T, von Stryk O (2012) Detailed dynamics modeling of BioBiped’s monoarticular and biarticular tendon-driven actuation system. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) pp 4243–4250

    Google Scholar 

  25. Radkhah K, von Stryk O (2013) Exploring the Lombard paradox in a bipedal musculo-skeletal robot. International Conference on Climbing and Walking Robots and the Sup-port Technologies for Mobile Machines (CLAWAR) pp 537–546

    Google Scholar 

  26. Radkhah K, von Stryk O (2014) A study of the passive rebound behavior of bipedal ro-bots with stiff and different types of elastic actuation. IEEE International Conference on Robotics and Automation (ICRA) pp 5095–5102

    Google Scholar 

  27. Rode C, Seyfarth A (2013) Balance control is simplified by musculoskeletal leg design. Dynamic Walking conference

    Google Scholar 

  28. Scheinman V, McCarthy JM (2008) Mechanisms and Actuation. Chapter 3 of Springer Handbook of Robotics. Ed. by B. Siciliano, O. Khatib, pp 67–86

    Google Scholar 

  29. Seyfarth A, Friedrichs A, Wank V, Blickhan R (1999) Dynamics of the long jump. Jour-nal of Biomechanics 32(12):1259–1267

    Google Scholar 

  30. Seyfarth A, Blickhan R, Van Leeuwen JL (2000) Optimum take-off techniques and mus-cle design for long jump. Journal of Experimental Biology 203(4):741–750

    Google Scholar 

  31. Seyfarth A, Grimmer S, Häufle D, Kalveram KT (2012) Can robots help to understand human locomotion? at - Automatisierungstechnik 60(11):653–660

    Google Scholar 

  32. Song H, Park H, Park S (2014) Swing leg kinetics can be described by springy-pendulum in human walking, Dynamic Walking conference

    Google Scholar 

  33. Sreenath K, Park HW, Poulakakis I, Grizzle JW (2011) A compliant hybrid zero dynam-ics controller for stable, efficient and fast bipedal walking on MABEL. The International Journal of Robotics Research 30(9):1170–1193

    Article  Google Scholar 

  34. Villani L, De Schutter J (2008) Force Control. Chapter 7 of Springer Handbook of Robot-ics. Ed. by B. Siciliano, O. Khatib, pp 161–185

    Google Scholar 

  35. Wiemann K, Tidow G (1995) Relative activity of hip and knee extensors in sprinting—implications for training. New studies in Athletics 1 10(29–49)

    Google Scholar 

  36. Loram, I.D., Maganaris, C.N., Lakie, M. (2004) Paradoxical muscle movement in human standing. The Journal of Physiology, vol. 556, pp 683–689

    Article  Google Scholar 

  37. Vanderborght, B. et al. (2013) Variable impedance actuators: A review. Robotics and Au-tonomous Systems, vol. 61, pp 1601–1614

    Article  Google Scholar 

  38. Moro, F.L., Tsagarakis, N.G., Caldwell, D.G. (2014) Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs). Autonomous Robots, vol. 36, no. 4, pp 331–347

    Article  Google Scholar 

  39. Radkhah, K., Maufroy, C., Maus, M., Scholz, D., Seyfarth, A., von Stryk, O. (2011) Concept and design of the BioBiped1 robot for human-like walking and running. Interna-tional Journal of Humanoid Robotics, Vol. 8, No. 3, pp. 439–458

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Technische Universität Darmstadt, Darmstadt, Germany

    Andre Seyfarth, Katayon Radkhah & Oskar von Stryk

Authors
  1. Andre Seyfarth
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Katayon Radkhah
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Oskar von Stryk
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Fraunhofer IPA, Stuttgart, Germany

    Alexander Verl

  2. DLR Institute of Robotics and Mechatronics, Wessling, Germany

    Alin Albu-Schäffer

  3. TU Berlin, Berlin, Germany

    Oliver Brock

  4. Leibniz University of Hannover, Garbsen, Germany

    Annika Raatz

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Seyfarth, A., Radkhah, K., von Stryk, O. (2015). Concepts of Softness for Legged Locomotion and Their Assessment. In: Verl, A., Albu-Schäffer, A., Brock, O., Raatz, A. (eds) Soft Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44506-8_11

Download citation

  • DOI: https://doi.org/10.1007/978-3-662-44506-8_11

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-44505-1

  • Online ISBN: 978-3-662-44506-8

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation