adp_laufrobotik:adp_2013
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| Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
| adp_laufrobotik:adp_2013 [24.11.2013 23:40] – [Way of modeling] Fabian Zwetsch | adp_laufrobotik:adp_2013 [27.11.2022 23:55] (aktuell) – Externe Bearbeitung 127.0.0.1 | ||
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| ====== Demonstrator ====== | ====== Demonstrator ====== | ||
| + | |||
| + | ^ Thema | Demonstrator | | ||
| + | ^ Veranstaltung | [[: | ||
| + | ^ Semester | SS 2012/13 | | ||
| + | ^ Namen | Hammen, F., Spring, B., Lahnstein, J., Zwetsch, F., [[: | ||
| + | |||
| ===== Introduction ===== | ===== Introduction ===== | ||
| Zeile 58: | Zeile 64: | ||
| ==== Hill-type muscle model ==== | ==== Hill-type muscle model ==== | ||
| - | // | + | |
| The mechanical structure of the muscle can be described by the following simplified parts: muscle | The mechanical structure of the muscle can be described by the following simplified parts: muscle | ||
| fiber, tendon, aponeurosis and the connective tissue. With these abstracted informations given the | fiber, tendon, aponeurosis and the connective tissue. With these abstracted informations given the | ||
| mechanical behavior of the muscle can be fully understood. | mechanical behavior of the muscle can be fully understood. | ||
| - | // | + | |
| The tendon and aponeurosis have elastic properties with a nonlinear stress-strain behavior and are | The tendon and aponeurosis have elastic properties with a nonlinear stress-strain behavior and are | ||
| Zeile 71: | Zeile 77: | ||
| relations (see <imgref image1>) [[adp_laufrobotik: | relations (see <imgref image1>) [[adp_laufrobotik: | ||
| - | // | + | |
| < | < | ||
| {{ : | {{ : | ||
| </ | </ | ||
| - | // | + | |
| ==== Modified Hill-type muscle model by Daniel Häufle ==== | ==== Modified Hill-type muscle model by Daniel Häufle ==== | ||
| In the muscle model to Häufle et al. [[adp_laufrobotik: | In the muscle model to Häufle et al. [[adp_laufrobotik: | ||
| Zeile 89: | Zeile 95: | ||
| // | // | ||
| ==== Way of modeling ==== | ==== Way of modeling ==== | ||
| - | // | + | |
| At the time of concept invention the pros and cons of translational and rotational systems were discussed. | At the time of concept invention the pros and cons of translational and rotational systems were discussed. | ||
| It has emerged that purely translational systems are highly complex in their mechanical | It has emerged that purely translational systems are highly complex in their mechanical | ||
| Zeile 96: | Zeile 102: | ||
| teaching. Translational movements are usually done on the basis of rails and are exposed to a lot of | teaching. Translational movements are usually done on the basis of rails and are exposed to a lot of | ||
| constraints. Thus, the material and space requirements are significantly increased. | constraints. Thus, the material and space requirements are significantly increased. | ||
| - | // | + | |
| - | // | + | |
| - | // | + | |
| - | // | + | |
| In the ADP designed demonstrator is a symbiosis of both systems. In order to simulate the realistic | In the ADP designed demonstrator is a symbiosis of both systems. In order to simulate the realistic | ||
| human hopping pattern, translational systems are used. To reduce the degree of complexity rotational | human hopping pattern, translational systems are used. To reduce the degree of complexity rotational | ||
| systems were used. | systems were used. | ||
| - | // | + | |
| ===== Exisiting demonstrators ===== | ===== Exisiting demonstrators ===== | ||
| - | // | + | |
| Hopping can be understood as the same as running but without horizontal motion. In human hopping | Hopping can be understood as the same as running but without horizontal motion. In human hopping | ||
| a spring-like leg behaviour is found while the legs are not made of springs. Based on the reflex | a spring-like leg behaviour is found while the legs are not made of springs. Based on the reflex | ||
| model it was shown that a positive force-feedback strategy, a kind of muscle reflex, generates a | model it was shown that a positive force-feedback strategy, a kind of muscle reflex, generates a | ||
| spring-like leg behaviour just without elastic components. | spring-like leg behaviour just without elastic components. | ||
| + | |||
| With the Marco hopper we have the chance to clearly understand the requirements for real world | With the Marco hopper we have the chance to clearly understand the requirements for real world | ||
| hopping motions in the case of absent elasticity. | hopping motions in the case of absent elasticity. | ||
| - | // | + | |
| ==== Marco Hopper ==== | ==== Marco Hopper ==== | ||
| - | // | + | |
| The construction and the design of the two-legged robots are limited by certain characteristics of | The construction and the design of the two-legged robots are limited by certain characteristics of | ||
| engines, such as the torque, the rotational speed or the friction caused by the material. | engines, such as the torque, the rotational speed or the friction caused by the material. | ||
| + | |||
| To improve the efficiency and stability of gait (e.g. walking, running, jumping), more often springlike | To improve the efficiency and stability of gait (e.g. walking, running, jumping), more often springlike | ||
| structures in walking robots are installed. It is assumed that mainly the tendons of the biological | structures in walking robots are installed. It is assumed that mainly the tendons of the biological | ||
| Zeile 122: | Zeile 128: | ||
| findings show that simulated reflex controlled muscles may behave like a spring, although the tendon | findings show that simulated reflex controlled muscles may behave like a spring, although the tendon | ||
| is completely stiff. Therefore, a quasi-elastic behaviour of the limbs does not necessarily require | is completely stiff. Therefore, a quasi-elastic behaviour of the limbs does not necessarily require | ||
| - | passive-elastic structures within the body. Seyfarth et al. presented in their paper [SKG07] the | + | passive-elastic structures within the body. Seyfarth et al. presented in their paper [[adp_laufrobotik: |
| Marco Hopper Robot to pursue the question whether a pattern can arise from pure muscle reflex | Marco Hopper Robot to pursue the question whether a pattern can arise from pure muscle reflex | ||
| activity that is similar to the hopping pattern of a one-legged jump with contact and flight phase. | activity that is similar to the hopping pattern of a one-legged jump with contact and flight phase. | ||
| Marco consists of a body and a motor driven leg, which can be moved in vertical direction. | Marco consists of a body and a motor driven leg, which can be moved in vertical direction. | ||
| - | Figure 2.3 shows the technical implementation of the Marco Hopper. A sledge representing the | + | |
| + | <imgref image3> | ||
| body slides up and down on ball bearings on a vertical ramp. A rigid leg segment is attached to the | body slides up and down on ball bearings on a vertical ramp. A rigid leg segment is attached to the | ||
| sledge and can move up and down. On the sledge a motor is fitted. Moving the leg segment attached | sledge and can move up and down. On the sledge a motor is fitted. Moving the leg segment attached | ||
| Zeile 133: | Zeile 140: | ||
| segment follows the laws of free fall. At the lower end of the leg segment a little ball consisting of | segment follows the laws of free fall. At the lower end of the leg segment a little ball consisting of | ||
| Adiprene, a strongly absorbing material, is attached. This damper reduces the impact on the ground | Adiprene, a strongly absorbing material, is attached. This damper reduces the impact on the ground | ||
| - | [www7]. | + | [[adp_laufrobotik: |
| - | // | + | |
| - | // | + | < |
| - | < | + | |
| {{ : | {{ : | ||
| </ | </ | ||
| - | // | + | |
| - | // | + | |
| The inertia of the sledge is increased by the inertia of the motor to 1.9 kg. In addition, a friction | The inertia of the sledge is increased by the inertia of the motor to 1.9 kg. In addition, a friction | ||
| force acts at 6 N. This means that the motor makes the leg section with respect to the sledge to a | force acts at 6 N. This means that the motor makes the leg section with respect to the sledge to a | ||
| very inert and rigid gadget. This illustrates the fact that the leg segment, pulled by gravity to the | very inert and rigid gadget. This illustrates the fact that the leg segment, pulled by gravity to the | ||
| bottom, remains liable if the motor moves upwards. Three sensors detect the status of the Marco: | bottom, remains liable if the motor moves upwards. Three sensors detect the status of the Marco: | ||
| + | |||
| * A POSIMAG system measures the vertical position of the sledge | * A POSIMAG system measures the vertical position of the sledge | ||
| * An acceleration sensor measures the acceleration | * An acceleration sensor measures the acceleration | ||
| * A corresponding strain gauge on the bottom plate measures the contact force | * A corresponding strain gauge on the bottom plate measures the contact force | ||
| - | The length of the leg segment is calculated via numerical integration [www7]. | + | |
| + | The length of the leg segment is calculated via numerical integration | ||
| Studies with the hopper show how stable hopping can be generated in a robot leg: It demands that | Studies with the hopper show how stable hopping can be generated in a robot leg: It demands that | ||
| the energy lost is replaced. This can be done in several ways. The common feature of the models | the energy lost is replaced. This can be done in several ways. The common feature of the models | ||
| - | tested was that the power supply after the mid-stance was larger than the one before [SKG07]. | + | tested was that the power supply after the mid-stance was larger than the one before |
| - | // | + | |
| ==== Limitations of existing systems ==== | ==== Limitations of existing systems ==== | ||
| - | // | + | |
| Many demonstrators are designed for modelling a particular movement. An apparatus that can simulate | Many demonstrators are designed for modelling a particular movement. An apparatus that can simulate | ||
| several motion features correctly, is far too complex and would exceed the requirement under | several motion features correctly, is far too complex and would exceed the requirement under | ||
| this ADP. Our demonstrator simulates human jumping movement taking into account the extensor | this ADP. Our demonstrator simulates human jumping movement taking into account the extensor | ||
| muscles in the legs. Which muscle is simulated exactly will be explained in the next chapter. The mass of the demonstrator corresponds to one-eighth of the average human weight as a scale model. | muscles in the legs. Which muscle is simulated exactly will be explained in the next chapter. The mass of the demonstrator corresponds to one-eighth of the average human weight as a scale model. | ||
| + | |||
| For technical reasons it is not possible, to realize the demonstrator under unscaled conditions. | For technical reasons it is not possible, to realize the demonstrator under unscaled conditions. | ||
| It is further defined by the project management, that the demonstrator is modular interchangeable, | It is further defined by the project management, that the demonstrator is modular interchangeable, | ||
| Zeile 165: | Zeile 174: | ||
| by a damper. The modularity is responsible for the clarity of the model. It will be more user | by a damper. The modularity is responsible for the clarity of the model. It will be more user | ||
| friendly and less complicated than the Marco Hopper. | friendly and less complicated than the Marco Hopper. | ||
| - | // | ||
| + | ====== Human Motion ====== | ||
| + | |||
| + | This chapter is about hopping and squads. It shows the biomechanics and the involved muscles. | ||
| + | Finally the deduction for the demonstrator is mentioned. | ||
| + | |||
| + | ===== Hopping ===== | ||
| + | |||
| + | One possible move of the demonstrator is hopping. It bends the knees and stretches it in the connection | ||
| + | again and as a result of it, it starts to jump. This repeats several of times. | ||
| + | |||
| + | A single jump can be divided into three phases. The first one is downward movement, the second | ||
| + | one is stretching and the last one is the flight. It is shown on <imgref image4>. | ||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | </ | ||
| + | |||
| + | As it is shown in the graph, the single jump starts with the downward movement. By bending the | ||
| + | knees the impulse on the ground decreases. The stretching is initiated with the beginning of the | ||
| + | breaking impulse and the impulse on the ground starts to increase until the flight phase. The foot | ||
| + | leaves the ground and the force goes to zero. | ||
| + | |||
| + | ==== Involved muscles and deduction for the demonstrator ==== | ||
| + | |||
| + | Hopping needs a lot of muscle. But for the demonstrator it is not necessary to mention all of the | ||
| + | muscles. The muscles which are mentioned are the one which could be considered for being built in | ||
| + | the demonstrator. The important ones for a human hopping are the muscle for the foot flexion, the | ||
| + | knee extension and the hip extension. | ||
| + | |||
| + | Two important muscles for the foot flexion are the musculus soleus and the musculus | ||
| + | gastrocnemius because of their beginning and approach [[adp_laufrobotik: | ||
| + | |||
| + | Musculus soleus has its beginning at dorsal, proximal third of the fibula, in the thirds middle of the | ||
| + | tibia and arcus tendineus musculi solei and its approach at the cranial and medial part of the tuber | ||
| + | calcanei [[adp_laufrobotik: | ||
| + | |||
| + | Musculus gastrocnemius has its beginning at the condylus medialis and lateralis femoris and its | ||
| + | approach cranial and medial part of the tuber calcanei [[adp_laufrobotik: | ||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | </ | ||
| + | |||
| + | One important muscle for the knee extension is the musculus quadriceps femoris. Musculus | ||
| + | quadriceps femoris, [[adp_laufrobotik: | ||
| + | musculus vastus intermedius and musculus vastus laterlis. | ||
| + | |||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | </ | ||
| + | |||
| + | Musculus rectus femoris has its beginning at the caput rectum ant the spina iliaca anterior inferior | ||
| + | and at the caput reflexum at the sulcus supraacetabularis. | ||
| + | |||
| + | Musculus vastus medialis has its beginning at linea aspera, linea intertrochanterica and the tendon | ||
| + | of the musculi adductor magnus and longus. | ||
| + | |||
| + | Musculus vastus intermedius has its beginning at upper two-thirds of the femoral shaft. | ||
| + | Musculus vastus lateralis has its beginning at the linea aspera of the femoral, trochanter major and | ||
| + | linea intertrochanterica. | ||
| + | |||
| + | The approach of all four of them is the ligamentum patellae at the tuberositas tibiae. | ||
| + | One important muscle for hip extension is the musculus gluteus maximus. Its beginning dorsal at | ||
| + | the os sacrum, fascia thoracolumbalis, | ||
| + | posterior superior and its approach is at the cranial part of the tractus iliotibialis and caudal part of | ||
| + | the tuberositas glutea [[adp_laufrobotik: | ||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | </ | ||
| + | |||
| + | The demonstrator has just one leg, two segments and one motor for keeping the model simple. That | ||
| + | means the focus is just on one muscle. The decision fell on musculus rectus femoris. Actually | ||
| + | musculus rectus femoris works over two joints, but in this case it is seen as a muscle working over | ||
| + | one joint, because we have just one joint at the demonstrator. | ||
| + | |||
| + | ===== Squad ===== | ||
| + | |||
| + | The demonstrator is also able to do a simple downward and upward move without a flight like a | ||
| + | squad. A squad is can be divided in different phases, too. <imgref image8> shows it. | ||
| + | |||
| + | < | ||
| + | {{ : | ||
| + | </ | ||
| + | |||
| + | The squad starts with a downward move, force on the ground decrease, because of the second | ||
| + | Newtonian axiom. At the end of the downward move the force increases because of the breaking | ||
| + | impulse. In the resting position the force becomes the weight of the body and increases by going | ||
| + | upwards because of the force which is needed to stretch the knees. After stretching the knees the | ||
| + | force decreases under the weight of the body until the velocity is over. The weight increases to the | ||
| + | weight of the body again. | ||
| + | |||
| + | ==== Involved muscles and deduction for the demonstrator ==== | ||
| + | |||
| + | The muscles which are used for the squad are almost the same ones like at hopping at chapter | ||
| + | " | ||
| + | musculus quadriceps femoris and musculus gluteus maximus. | ||
| + | The deductions for a squad a similar like the deduction for the hopping. Musculus rectus femoris | ||
| + | would be the best decision in this case, too, because it has a big part on the squad. | ||
| + | |||
| + | {{indexmenu_n> | ||
adp_laufrobotik/adp_2013.1385332850.txt.gz · Zuletzt geändert: 27.11.2022 23:54 (Externe Bearbeitung)