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adp_laufrobotik:adp_2013 [28.11.2013 01:45] – [Hill-type muscle model] Fabian Zwetschadp_laufrobotik:adp_2013 [27.11.2022 23:55] (aktuell) – Externe Bearbeitung 127.0.0.1
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 ====== Demonstrator ====== ====== Demonstrator ======
 +
 +^ Thema | Demonstrator |
 +^ Veranstaltung | [[:veranstaltungen#adp_laufrobotik|ADP Laufrobotik]] |
 +^ Semester | SS 2012/13 |
 +^ Namen | Hammen, F., Spring, B., Lahnstein, J., Zwetsch, F., [[:team#Filip_Cengic|Cengic, F.]]|
 +
 ===== Introduction ===== ===== Introduction =====
  
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 ==== Way of modeling ==== ==== Way of modeling ====
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 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
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 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.
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 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.
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 ===== Exisiting demonstrators ===== ===== Exisiting demonstrators =====
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 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.
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 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.
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 ==== Marco Hopper ==== ==== Marco Hopper ====
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 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.
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 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
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 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:adp_2013:bibliography|[SKG07]]] the
 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.
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 <imgref image3> shows the technical implementation of the Marco Hopper. A sledge representing the <imgref image3> shows the technical implementation of the Marco Hopper. A sledge representing the
 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
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 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
 [[adp_laufrobotik:adp_2013:bibliography|[www7]]]. [[adp_laufrobotik:adp_2013:bibliography|[www7]]].
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 <imgcaption image3|Marco Hopper [www7]> <imgcaption image3|Marco Hopper [www7]>
 {{ :adp_laufrobotik:adp_2013:bild3.jpg?direct&400 |Marco Hopper}} {{ :adp_laufrobotik:adp_2013:bild3.jpg?direct&400 |Marco Hopper}}
 </imgcaption> </imgcaption>
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 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:
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   * 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
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 The length of the leg segment is calculated via numerical integration [[adp_laufrobotik:adp_2013:bibliography|[www7]]]. The length of the leg segment is calculated via numerical integration [[adp_laufrobotik:adp_2013:bibliography|[www7]]].
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 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
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 would be the best decision in this case, too, because it has a big part on the squad. would be the best decision in this case, too, because it has a big part on the squad.
  
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adp_laufrobotik/adp_2013.1385599508.txt.gz · Zuletzt geändert: 27.11.2022 23:54 (Externe Bearbeitung)


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