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biomechanik:modellierung:mm4:tbm [10.07.2017 22:47] Maziar Sharbafibiomechanik:modellierung:mm4:tbm [28.11.2022 00:58] (aktuell) – Externe Bearbeitung 127.0.0.1
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 ====== Template-based modeling ====== ====== Template-based modeling ======
 +
 ---- ----
  
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 ^Event |none | ^Event |none |
 ^Author |[[http://lauflabor.ifs-tud.de/doku.php?id=lab_members:lab_members_maziarahmadsharbafi|Maziar A. Sharbafi]] |   ^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  |        [[biomechanik:modellierung:mm4| Previous module]]   [[biomechanik:modellierung:mm4:tm|Next Module]]+^Requirements |Module Kin 1-3 and Dyn 1-4  |       
 ^teaching time |45 min | ^teaching time |45 min |
-^Last modified |11.7.2017 |+^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 Legged locomotion in biological systems is a complex and not fully understood problem. A
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 Before describing template based modeling we first summarize the challenges on robotics specially legged robots. See the following video for entering the discussion. Before describing template based modeling we first summarize the challenges on robotics specially legged robots. See the following video for entering the discussion.
  
-{{youtube>large:38UUpe9CokY|Challenges in robotics (Russ Tedrake)}}\\+{{ 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. 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.
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 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. 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|}}\\ {{: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 === === Locomotor subfunction concept ===
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 Figure 5. Three locomotor subfunctions: Stance, swing, and balance. Figure 5. Three locomotor subfunctions: Stance, swing, and balance.
  
-With this approach, we can identify +With this approach, we can identify the relation between different locomotor sub-functions e.g., between balance and stance (using stance
-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 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 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 locomotor sub-functions with a limited exchange of sensory information on several hardware platforms
 (legged robots, exoskeleton). (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.
 +
 +
 +
 +
biomechanik/modellierung/mm4/tbm.1499719650.txt.gz · Zuletzt geändert: 28.11.2022 00:57 (Externe Bearbeitung)


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