Simulation and Experimental Evaluation of the Contribution of Biarticular Gastrocnemius Structure to Joint Synchronization in Human-Inspired Three-Segmented Elastic Legs

  • Dorian Scholz
  • Christophe Maufroy
  • Stefan Kurowski
  • Katayon Radkhah
  • Oskar von Stryk
  • André Seyfarth
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7628)


The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle architecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend synchronous joint operation can be enhanced by introducing elastic biarticular structures in the leg, reducing the risk of over-extending individual joints.


Ankle Joint Elastic Structure Biped Robot Heel Strike Bipedal Walking 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Dorian Scholz
    • 1
  • Christophe Maufroy
    • 2
  • Stefan Kurowski
    • 1
  • Katayon Radkhah
    • 1
  • Oskar von Stryk
    • 1
  • André Seyfarth
    • 2
  1. 1.Department of Computer ScienceFachgebiet Simulation, Systemoptimierung und Robotik Technische Universität DarmstadtDarmstadtGermany
  2. 2.Lauflabor Locomotion LaboratoryTechnische Universität Darmstadt, Institut für SportwissenschaftDarmstadtGermany

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