Difference: Research (2 vs. 3)

Revision 319 Aug 2015 - fsg23

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Research Overview

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legmodel3d.png Description: Developmental robotics is located at the intersection of developmental sciences and robotics. The main goal of this field of research is to investigate how a creature can develop increasingly complex behaviors autonomously. In this particular project we use self-organization principles to develop reflexive behavior in a simulated leg model. Using the same self-organization principles, we have obtained analogues of the myotatic, the reverse myotatic, the reciprocal inhibition, and the withdrawal reflexes, which have been identified in the mammal spinal chord.
Researchers: Hugo Gravato Marques
Publications: Current Biology, Biological Cybernetics
Videos: Reflex Learning and Jumping

Legged-Locomotion and Unconventional Actuators
ETHOP.jpg Description: Variable stiffness and damping mechanisms can increase versatility and efficiency of legged locomotion. This research area focuses on the development of lightweight, powerful and simple variable actuators. A number of different methods and materials are explored in the development process of legged robots such as carbon fibers and glass fibers for springs, variable stiffness mechanisms, non-linear springs and passive mechanisms as well as brakes and clutches to create multi modal actuators.
Researchers: Fabian GŁnther, Derek Leach
Publications: IROS 2013, IEEE/ASME-TMECH, IROS 2012, IROS 2012, AMAM 2011
Videos: Preloaded Hopping with ETHop and LMMA, Open loop Hopping with ETHop, Double Pendulum

Energy Efficient Legged Locomotion Based on Free Vibration

Energy Efficient Legged Locomotion Based on Parallel Elastic Mechanisms
eth-cargo-200.jpg Project Page

Assistive Mechatronic Posture Support
curve_beam_2012.jpg Description: During free vibration process, potential and kinetic energy are exchanged without energy loss. Based on this property, this project aims to design robots with energetically efficient locomotion. The elastic curved beam is demonstrated to perform well using free vibration in the experiment. Due to different design of structure, multiple locomotion gaits including hopping, walking and running, can be achieved. Furthermore, a number of models and simulation are used to investigate the dynamics of robot, which supplies the theory to explore optimal control methods.
Researchers: Xiaoxiang Yu, Fabian GŁnther, Surya Nurzaman
Publications: TMECH, ALife, TIE, ICRA 2013, IROS 2012, AIM 2012, AIM 2011, AMC 2012, AMAM 2013, Dynamic Walking 2012, ICMC 2011
Curved beam robots: Hopper, Walker, Runner
Multi-gaited study: simulation, experiment
Mini efficient robot: Hopper, Runner
Large payload efficient robot: 10kg payload hopper
Resonance Vibration, Passive Hopping, Hopper modeling, Curved foot hopper

Assistive Mechatronic Posture Support
Project_noonee.jpg Description: Using passive and low energy components the goal of this project is to develop a power efficient and comfortable posture support device which allows the user to stand for long periods of time as well as walking and climbing stair. The device absorbs the body weight of the user and redirects it away from the knee. This reduces the stress on the knees and muscles and therefore the risk of pain and injuries. The device is equipped with a high performance variable hydraulic damper. The damping can be varied from very low to very high damping and ultimately brake. The control of this damper allows different applications of the device in the industrial, rehabilitation and medical field.
Researchers: Bryan Anastasiades, Keith Gunura
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