Advertisement

Simulating an Elastic Bipedal Robot Based on Musculoskeletal Modeling

  • Roberto Bortoletto
  • Massimo Sartori
  • Fuben He
  • Enrico Pagello
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7375)

Abstract

Many of the processes involved into the synthesis of human motion have much in common with problems found in robotics research. This paper describes the modeling and the simulation of a novel bipedal robot based on Series Elastic Actuators (SEAs) [1]. The robot model takes inspiration from the human musculoskeletal organization. The geometrical organization of the robot artificial muscles is based on the organization of human muscles. In this paper we study how the robot active and passive elastic actuation structures develop force during selected motor tasks. We then compare the robot dynamics to that of the human during the same motor tasks. The motivation behind this study is to translate the mechanisms underlying the human musculoskeletal dynamics to the robot design stage for the purpose of developing machines with better motor abilities and energy saving performances.

Keywords

Flexible Robotic Musculoskeletal Model OpenSim Simulation 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Pratt, G., Williamson, M.: Series Elastic Actuators. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 1, pp. 399–406 (1995)Google Scholar
  2. 2.
    Omer, A.M.M., Ghorbani, R., Lim, H., Takanishi, A.: Semi-Passive Dynamic Walking for Humanoid Robot Using Controllable Spring Stiffness on the Ankle Joint. In: Proceedings of the 4th International Conference on Autonomous Robots and Agents, Wellington, New Zeland (February 2009)Google Scholar
  3. 3.
    Geyer, H., Herr, H.: A Muscle-Reflex Model that Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities. IEEE Transaction on Neural Systems and Rehabilitation Engineering 18(3), 263–273 (2010)CrossRefGoogle Scholar
  4. 4.
    Iida, F., Rummel, J., Seyfarth, A.: Bipedal walking and running with spring-like biarticular muscles. Journal of Biomechanics 41 (2008)Google Scholar
  5. 5.
    Radkhah, K., Lens, T., Seyfarth, A., von Stryk, O.: On the influence of elastic actuation and monoarticular structures in biologically inspired bipedal robots. In: Proceedings of the 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (2010)Google Scholar
  6. 6.
    Radkhah, K., Maus, M., Scholz, D., Seyfarth, A., von Stryk, O.: Toward Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs. In: 41st Int. Symp. on Robotics / 6th German Conf. on Robotics, pp. 696–703 (June 2010)Google Scholar
  7. 7.
    Delp, S.L., Anderson, F.C., Arnold, A.S., Loan, P., Habib, A., John, C.T., Guendelman, E., Thelen, D.G.: OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement. IEEE Transactions on Biomedical Engineering 54(11) (November 2007)Google Scholar
  8. 8.
    Delp, S.L., Loan, J.P., Hoy, M.G., Zajac, F.E., Topp, E.L., Rosen, J.M.: An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures. IEEE Transactions on Biomedical Engineering (1990)Google Scholar
  9. 9.
    Anderson, F.C., Pandy, M.G.: A dynamic optimization solution for vertical jumping in three dimensions. Computer Methods in Biomechanics and Biomedical Engineering 2, 201–231 (1999)Google Scholar
  10. 10.
    Anderson, F.C., Pandy, M.G.: Dynamic optimization of human walking. Journal of Biomechanical Engineering 123, 381–390 (2001)CrossRefGoogle Scholar
  11. 11.
    Yamaguchi, G.T., Zajac, F.E.: A planar model of the knee joint to characterize the knee extensor mechanism. Journal of Biomechanics 22(1), 1–10 (1989)CrossRefGoogle Scholar
  12. 12.
    Bortoletto, R.: Simulating a Flexible Robotic System based on Musculoskeletal Model. M.Sc Thesis - Department of Information Engineering, University of Padua (December 2011)Google Scholar
  13. 13.
    He, F., Liang, Y., Zhang, H., Pagello, E.: Modeling and Dynamics of Extended Elastic Actuator Applied to Robot. Submitted to IAS 2012 (February 2012)Google Scholar
  14. 14.
    John, C.T.: Complete Description of the Thelen 2003 Muscle Model, http://simtk-confluence.stanford.edu:8080
  15. 15.
    Sartori, M., Reggiani, M., Lloyd, D.G., Pagello, E.: A neuromusculoskeletal model of the human lower extremity: Towards EMG-driven actuation of multiple joints in powered orthoses. In: Proceedings of IEEE International Conference on Rehabilitation Robotics (ICORR 2011), Swizzerland (June 2011)Google Scholar
  16. 16.
    Sartori, M., Lloyd, D.G., Reggiani, M., Pagello, E.: Fast Runtime Operation of Anatomical and Stiff Tendon Neuromuscular Models in EMG-driven Modeling. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010), USA (May 2010)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Roberto Bortoletto
    • 1
  • Massimo Sartori
    • 2
  • Fuben He
    • 3
  • Enrico Pagello
    • 1
  1. 1.Intelligent Autonomous Systems Laboratory, Department of Information Engineering (DEI)University of PaduaItaly
  2. 2.Department of Neurorehabilitation Engineering, Bernstein Focus Neurotechnology GoettingenGeorg-August UniversityGoettingenGermany
  3. 3.School of Mechanical EngineeringDalian University of TechnologyDalianChina

Personalised recommendations