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--- biomechanik:modellierung:mm4:tbm [05.07.2017 16:45] – [Locomotor subfunction concept] Maziar Sharbafi
+++ biomechanik:modellierung:mm4:tbm [28.11.2022 00:58] (aktuell) – Externe Bearbeitung 127.0.0.1
@@ Zeile 1: / Zeile 1: @@
 ====== Template-based modeling ======
-Before describing template based modeling we first summarize the challenges on robotics specially legged robots. See this  [[https://www.youtube.com/watch?v=38UUpe9CokY|video]] for entering the discussion.
+----
+^Module-Icon |TBM Template-based modeling |
+^Event |none |
+^Author |[[http://lauflabor.ifs-tud.de/doku.php?id=lab_members:lab_members_maziarahmadsharbafi|Maziar A. Sharbafi]] |
+^Requirements |Module Kin 1-3 and Dyn 1-4  |
+^teaching time |45 min |
+^Last modified |11.7.2017 |
+| [[biomechanik:modellierung:mm4|<= Previous module]] |  [[biomechanik:modellierung:mm4:tm|Next Module =>]]|
+Legged locomotion in biological systems is a complex and not fully understood problem. A
+great progress to simplify understanding locomotion dynamics and control was made by introducing
+simple models, coined “templates”, able to represent the overall dynamics of animal (including human)
+gaits.
+Before describing template based modeling we first summarize the challenges on robotics specially legged robots. See the following video for entering the discussion.
+{{ youtube>38UUpe9CokY?large |Challenges in robotics (Russ Tedrake)}}\\
 Inspired from what Russ said the challneges of the current technologies in robotics can be summarized in Fig. 1. Expensive robots reauiring highe precision sensors and actuators, with complex and accurate controller which needs precise design and manufacturing requiring huge amunt of energy are too far from biological locomotors.
-{{:biomechanik:modellierung:mm4:challenge.jpg?600|}}\\
+{{:biomechanik:modellierung:mm4:challenge.png?600|}}\\
 Figure 1. Challenges of the current technologies in robotics.
@@ Zeile 13: / Zeile 34: @@
 Our understanding of legged locomotion is based on two fundamental ingredients shown in Fig. 3: Mechanics and control. The locomotor body (mechanics) need to be optimized to simplify and fit to control. The neural system in human body plays the role of the controller which matches the body properties.This combination needs to be robust against any uncertainties, perturbations, and disturbance. Such a robustness is achievable with simple design and the minimum dependency to operational tools like sensors and actuators.
-{{:biomechanik:modellierung:mm4:leggedlocomotion.jpg?600|}}
+{{:biomechanik:modellierung:mm4:leggedlocomotion.png?600|}} \\
-Fig. 3. Basic elements in elgged locomotion
+Fig. 3. Basic elements in legged locomotion
 In order to design a legged system, we use the trilogy shown in Fig. 4. First, we learn from nature (biology) to extract basic principles. The next step is building the models to verify the basic concepts and develop new methods. Finally, the design and control approaches need to be implemented on the hardware. One of the most useful applications of studying legged locomotion from a biomechanical point of view is implementing the ideas on new assistive devices like prostheses and orthoses.
-{{:biomechanik:modellierung:mm4:methods.jpg?600|}}\\
+{{:biomechanik:modellierung:mm4:methods.png?600|}}\\
 Different steps in designing a legged system from the biomechanical point of view and its application in daily life.
@@ Zeile 29: / Zeile 50: @@
 In the first group, simple models are used to describe selected basic features of legged locomotion. Such models are not considering the details of dynamics and control of the systems. Basic elements in physics like mass, spring, damper, and pendulum are employed to represent the fundamental behavior of the locomotor. Spring Loaded Inverted Pendulum (SLIP) and Inverted Pendulum (IP) are two of such template models.
-The second group comprises of detailed dynamic models including body mechanics, actuators, sensors, and controller. For example neuromuscular models (Geyer and Herr 2010) or the human motion models in OPENSIM which includes EMG signal, muscle models, segemented mechanisms including details of length, mass and inertia are of the second group.
+The second group comprises of detailed dynamic models including body mechanics, actuators, sensors, and controller. For example neuromuscular models [Geyer10] or the human motion models in OPENSIM which includes EMG signal, muscle models, segemented mechanisms including details of length, mass and inertia are of the second group.
-In (Full & Koditsceck 1999), the concept of template & anchor was introduced which connected these two groups (See Fig. 1)
+In [Full99], the concept of template & anchor was introduced which connected these two groups (See Fig. 1)
 {{:biomechanik:modellierung:mm4:templateanchor.png?600|}}\\
-Figure 1. Template & anchor concept from (Full & Koditcheck 1999).
+Figure 1. Template & anchor concept from [Full99].
 === Locomotor subfunction concept ===
-Legged locomotion in biological systems is a complex and not fully understood problem. A
+Inspired from template models explaining biological locomotory systems and Robert's pioneering
-great progress to simplify understanding locomotion dynamics and control was made by introducing
-simple models, coined “templates”, able to represent the overall dynamics of animal (including human)
-gaits. One of the most recognized models is the spring-loaded inverted pendulum (SLIP) which consists
-of a point mass atop a massless spring. This model provides a good description of human gaits, such
-as walking, hopping and running. Despite its high level of abstraction, it supported and inspired the
-development of successful legged robots and was used as explicit targets for control, over the years.
-Inspired from template models explaining biological locomotory systems and Raibertâ˘A ´ Zs pioneering
 legged robots, locomotion can be realized by basic sub-functions: (i) stance leg function, (ii) leg
 swinging and (iii) balancing. Combinations of these three sub-functions can generate different gaits with
-diverse properties. Using the template models, we investigate how locomotor sub-functions contribute to
+diverse properties. Using the template models, we can investigate how locomotor sub-functions contribute to
-stabilize different gaits (hopping, running and walking) in different conditions (e.g., speeds). We show
+stabilizing different gaits (hopping, running and walking) in different conditions (e.g., speeds). Such basic analysis on human locomotion using conceptual models can result in developing new methods
-that such basic analysis on human locomotion using conceptual models can result in developing new methods
 in design and control of legged systems like humanoid robots and assistive devices (exoskeletons,
-orthoses and prostheses).
+orthoses, and prostheses).
-This thesis comprises research in different disciplines: biomechanics, robotics and control. These disciplines
-are required to do human experiments and data analysis, modeling of locomotory systems, and
+{{:biomechanik:modellierung:mm4:3sub.png?300|}}\\
-implementation on robots and an exoskeleton.We benefited from facilities and experiments performed in
+Figure 5. Three locomotor subfunctions: Stance, swing, and balance.
-the Lauflabor locomotion laboratory. Modeling includes two categories: conceptual (template-based, e.g.
-SLIP) models and detailed models (with segmented legs, masses/inertias). Using the BioBiped series of
+With this approach, we can identify the relation between different locomotor sub-functions e.g., between balance and stance (using stance
-robots (and the detailed BioBiped MBS models; MBS stands for Multi-Body-System), we have implemented
-newly-developed design and control methods related to the concept of locomotor sub-functions
-on either MBS models or on the robot directly. In addition, with involvement in BALANCE project
-(http://balance-fp7.eu/), we implemented balance-related control approaches on an exoskeleton
-to demonstrate their performance in human walking. The outcomes of this research includes developing
-new conceptual models of legged locomotion, analysis of human locomotion based on the newly developed
-models following the locomotor sub-function trilogy, developing methods to benefit from the
-models in design and control of robots and exoskeletons. The main contribution of this work is providing
-a novel approach for modular control of legged locomotion. With this approach we can identify
-the relation between different locomotor sub-functions e.g., between balance and stance (using stance
 force for tuning balance control) or balance and swing (two joint hip muscles can support the swing leg
 control relating it to the upper body posture) and implement the concept of modular control based on
 locomotor sub-functions with a limited exchange of sensory information on several hardware platforms
 (legged robots, exoskeleton).
+==== Exercise: ====
+   - Explain the template & Anchor concept in 5 sentences with your words.
+   - Another template model LLS (called lateral leg spring) mentioned in [Full99] from [Schmitt00]. Find this model and explain it in one paragraph.
+   - What are the three basic locomotor subfunctions? Can you introduce physical template model (e.g. spring mass) for each of them?
+==== References ====
+[Geyer10] Geyer, H., & Herr, H. (2010). A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. IEEE Transactions on neural systems and rehabilitation engineering, 18(3), 263-273.
+[Full99] RJ Full and DE Koditschek. Templates and anchors: neuromechanical hypotheses of legged locomotion
+on land. Journal of Experimental Biology, 202(23):3325–3332, 1999.\\
+[Schmitt00] Schmitt, J., & Holmes, P. (2000). Mechanical models for insect locomotion: dynamics and stability in the horizontal plane I. Theory. Biological cybernetics, 83(6), 501-515.