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projects:projects_epa [2019/12/17 10:59] Maziar Sharbafi |
projects:projects_epa [2020/09/03 12:24] Maziar Sharbafi [Dissemination:] |
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A better understanding of how actuator design supports locomotor function may
help design and develop novel and more functional powered assistive or robotic legged
systems. Legged locomotion can be described as a composition of locomotor
sub-functions, | A better understanding of how actuator design supports locomotor function may
help design and develop novel and more functional powered assistive or robotic legged
systems. Legged locomotion can be described as a composition of locomotor
sub-functions, | ||
- | In this
project, we focus on the axial leg function (e.g., spring-like hopping) based on a novel concept of a hybrid electric-pneumatic actuator (EPA). This principal locomotor sub-function determines
the movement of the body center of mass. We will design and manufacture EPA prototypes
as enhanced variable impedance actuators (VIA). In contrast to other VIAs, the EPA provides not only adaptable compliance (e.g. an adjustable spring)
but with the pneumatic artificial muscle (PAM) also
an additional powerful actuator with muscle-like properties, which can be
arranged in different configurations (e.g., in series or parallel) to the electric motor (EM). This novel hybrid actuator
shares the advantages of EM and PAM combining precise control with compliant
energy storage required for efficient, robust and versatile human-like leg motions via simple control
laws. | + | In this
project, we focus on the axial leg function (e.g., spring-like hopping) based on a novel concept of a hybrid electric-pneumatic actuator (EPA). This principal locomotor sub-function determines
the movement of the body center of mass. We will design and manufacture EPA prototypes
as enhanced variable impedance actuators (VIA). In contrast to other VIAs, the EPA provides not only adaptable compliance (e.g. an adjustable spring)
but with the pneumatic artificial muscle (PAM) also
an additional powerful actuator with muscle-like properties, which can be
arranged in different configurations (e.g., in series or parallel) to the electric motor (EM). This novel hybrid actuator
shares the advantages of EM and PAM combining precise control with compliant
energy storage required for efficient, robust, and versatile human-like leg motions via simple control
laws. |
Based on human experiments, | Based on human experiments, | ||
Line 9: | Line 9: | ||
{{ : | {{ : | ||
A simulation model of human muscle-skeletal function reproducing human hopping experiment results will be used to identify the objective function for the biological actuators (muscles) through “inverse
optimal control”. This biologically inspired cost function will then help us to
identify the most appropriate EPA actuator design. A robotic setup of the MARCO-2 hopping robot will be equipped with EPA to demonstrate and evaluate the actuator design and control. | A simulation model of human muscle-skeletal function reproducing human hopping experiment results will be used to identify the objective function for the biological actuators (muscles) through “inverse
optimal control”. This biologically inspired cost function will then help us to
identify the most appropriate EPA actuator design. A robotic setup of the MARCO-2 hopping robot will be equipped with EPA to demonstrate and evaluate the actuator design and control. | ||
- | Based on its mechanical properties and its flexible arrangement in
multi-segment-systems, | + | Based on its mechanical properties and its flexible arrangement in
multi-segment-systems, |
- | We expect that only limited exchange of sensory information between the different locomotor sub-function controllers will be required enabling the envisioned modular architecture of the locomotor control system. With EPA technology, new versatile, efficient and robust locomotor systems for a wide range of applications can be designed. | + | We expect that only a limited exchange of sensory information between the different locomotor sub-function controllers will be required enabling the envisioned modular architecture of the locomotor control system. With EPA technology, new versatile, efficient and robust locomotor systems for a wide range of applications can be designed. |
You can find the short version of the proposal {{ : | You can find the short version of the proposal {{ : | ||
+ | |||
+ | ===== Demonstrations: | ||
+ | ==== AMAM 2019 conference (EPFL)==== | ||
+ | |||
+ | All these figures are taken by AMAM 2019 conference organizers at EPFL. | ||
+ | \\ | ||
+ | {{: | ||
+ | {{: | ||
+ | {{: | ||
+ | \\ | ||
+ | {{: | ||
+ | {{: | ||
+ | {{: | ||
+ | |||
+ | ==== Related videos: ==== | ||
+ | === Experiments: | ||
+ | Detials of this experiment is reported in a recent publication in | ||
+ | [[https:// | ||
+ | {{ : | ||
+ | |||
+ | \\ | ||
+ | |||
+ | ---- | ||
+ | |||
+ | === Experiments: | ||
+ | {{ : | ||
+ | |||
+ | \\ | ||
+ | |||
+ | ---- | ||
+ | |||
+ | === Concerted Control Concept (Dynamic Walking 2019) === | ||
+ | {{youtube> | ||
+ | \\ | ||
+ | |||
+ | ---- | ||
+ | |||
+ | === Modular Control of Legged Locomotion - Concepts, Models and Applications (Dynamic Walking 2019) === | ||
+ | |||
+ | {{youtube> | ||
+ | \\ | ||
+ | |||
+ | |||
+ | |||
+ | ===== Dissemination: | ||
+ | |||
+ | ===Book and book chapters=== | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** Beckerle. P, Verstraten. T, [[lab_members: | ||
+ | |||
+ | ---- | ||
+ | |||
+ | ===Journal Papers=== | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** Zhao, G., Szymanski, F., & Seyfarth, A. ** (2020). Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg. Bioinspiration & Biomimetics, | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** Barazesh, H., [[lab_members: | ||
+ | |||
+ | * ** Firouzi, V., Davoodi, A., Bahrami, F., & [[lab_members: | ||
+ | | ||
+ | * ** Naseri, A.; Mohammadi Moghaddam, M.; Gharini, M.; [[lab_members: | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** [[lab_members: | ||
+ | |||
+ | * ** Davoodi, A., Mohseni, O., Seyfarth, A., [[lab_members: | ||
+ | |||
+ | * ** Oehlke, O., Beckerle, P., Seyfarth, A., [[lab_members: | ||
+ | |||
+ | * ** Sarmadi, A., [[lab_members: | ||
+ | |||
+ | * ** Sharbafi, M. A., Barazesh, H., Iranikhah, M., & Seyfarth, A, ** Leg force control through biarticular muscles for human walking assistance. Frontiers in neurorobotics, | ||
+ | |||
+ | * ** Sharbafi M. A., Shin H., Zhao G., Hosoda K. and Seyfarth A.,** Electric-Pneumatic Actuator: A New Muscle for Locomotion. Actuators 2017, 6(4), 30; [[https:// | ||
+ | |||
+ | |||
+ | ---- | ||
+ | |||
+ | ===Conference Papers=== | ||
+ | |||
+ | * **Mohseni. O, Gagey. F, Zhao. G, Seyfarth. A, & Sharbafi, M. A.** (2020), How Far Are Pneumatic Artificial Muscles from Biological Muscles?, IEEE International Conference on Robotics and Automation (ICRA), {{ : | ||
+ | |||
+ | * **Firouzi, V., Seyfarth, A., & Sharbafi, M. A. ** (2019, November). TIP Model: A Combination of Unstable Subsystems for Lateral Balance in Walking. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 476-482). {{ : | ||
+ | |||
+ | * **Anand, A. S., Zhao, G., Roth, H., & Seyfarth, A. ** (2019, October). A deep reinforcement learning based approach towards generating human walking behavior with a neuromuscular model. In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (pp. 537-543). {{ : | ||
+ | |||
+ | * **Firouzi, V., Seyfarth, A., & Sharbafi, M. A.** (2019). Does VPP exist in lateral balancing?. In 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Switzerland {{ : | ||
+ | |||
+ | * **Sharbafi, M. A. Seyfarth, A. ** (2019) Concerted control approach with leg force as a conductor. (2019). Dynamic Walking, Canmore, Canada,{{ : | ||
+ | |||
+ | * ** Seyfarth, A., Sharbafi, M. A., Zhao, G., & Schumacher, C. **(2018, October). Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps. In International Symposium on Wearable Robotics (pp. 339-343). Springer, Cham {{ : | ||
+ | |||
+ | |||
+ | * ** Naseri. A., [[lab_members: | ||
+ | |||
+ | * ** Sharbafi, M. A., Zadravec, M., Matjačić, Z, & Seyfarth, A. ** [[https:// | ||
+ | |||
+ | * ** Schumacher, C., [[lab_members: | ||
+ | * ** Sarmadi, A., Sharbafi, M. A., Schumacher, C., & Seyfarth, A.**[[https:// | ||
+ | |||
+ | |||
+ | ---- | ||
+ | |||
+ | |||
+ | ===Organized workshops: | ||
+ | * ** Novel bioinspired actuator designs for robotics (BioAct)** | ||
+ | This workshop was held in the BioRob 2018 conference in Enschede, the Netherlands. | ||
+ | Please see [[projects: | ||
+ | |||
+ | * ** What should we expect from passive exoskeletons? | ||
+ | This workshop is organized as a special session in WeRob/ | ||
+ | Please see [[projects: | ||
+ | |||
+ | |||
- | [[projects: | ||