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projects:projects_epa [2019/09/02 17:23]
Maziar Sharbafi
projects:projects_epa [2019/12/17 10:59] (current)
Maziar Sharbafi
Line 7: Line 7:
 Based on human experiments,​ the EPA design will be optimized to minimize
 energy consumption and maximize robustness against perturbations within a
 desired operational range. We consider human hopping in place as a simple movement concentrating on the axial leg function. ​ Based on human experiments,​ the EPA design will be optimized to minimize
 energy consumption and maximize robustness against perturbations within a
 desired operational range. We consider human hopping in place as a simple movement concentrating on the axial leg function. ​
  
 +{{ :​projects:​epahopper.mp4?​400|EPA-hopper hopping}}
 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,​ the EPA provides a novel actuator that mimics human 
muscle function and is able to mechanically adapt to different gaits and 
conditions (e.g. locomotion speed). Preliminary experimental and simulation
 studies in our group show evidence of expected advantages of adding PAM to EM.  Based on its mechanical properties and its flexible arrangement in 
multi-segment-systems,​ the EPA provides a novel actuator that mimics human 
muscle function and is able to mechanically adapt to different gaits and 
conditions (e.g. locomotion speed). Preliminary experimental and simulation
 studies in our group show evidence of expected advantages of adding PAM to EM. 
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 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 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 {{ :​projects:​epa_proposal_short.pdf |here}} You can find the short version of the proposal {{ :​projects:​epa_proposal_short.pdf |here}}
 +
  
 [[projects:​projects_epa_Workshop|BioAct Workshop at BioRob 2018]] [[projects:​projects_epa_Workshop|BioAct Workshop at BioRob 2018]]