Locomorph

Locomorph

Locomorph is an EU-funded project with research groups in Belgium, Canada, Denmark, Germany and Switzerland, and is a collaboration of biologists, physicists and engineers. Generally, relations between morphology and locomotion in humans and animals will be investigated in order to develop a framework for robust and multifunctional robots.

In the Lauflabor the Locomorph project is splitted into three parts: “Simulated Injury”, “Change in Pedality”, and “Modular Robots”.

Read more on the topic at the official website: Locomorph


Involved People: Sten Grimmer, Frank Peuker, Daniel Renjewski, Martin Groß, André Seyfarth

Subjects

Airedale Terrier trotting on an instrumented treadmill. Dynamics and kinematics were measured for investigating mechanics and control of quadrupedal locomotion.

A highly reduced dog model with distributed body and spring-like legs at front and hind of the body is used for investigating quadrupedal trotting.

Partners

Biologically Inspired Robotics Group Biologically Inspired Robotics Group (BIRG)
School of Computer and Communication Sciences
École Polytechnique Fédérale de Lausanne (EPFL), Switzerland


Artificial Intelligence Laboratory Artificial Intelligence Laboratory
Department of Informatics
University of Zurich, Switzerland


The Maersk Mc-Kinney Moller Institute The Maersk Mc-Kinney Moller Institute
University of Southern Denmark
Odense, Denmark


Laboratory for Functional Morphology Laboratory for Functional Morphology
Department of Biology
University of Antwerp, Belgium

Sensorimotor Processing and Integration for Rehabilitation, Adaptation and Learning Lab Sensorimotor Processing and Integration for Rehabilitation, Adaptation and Learning Lab
Department of Electrical and Computer Engineering
Ryerson University, Canada

Publications

  • Peuker F, Grimmer S, Pouya S, Möckel R, Ijspeert A, Seyfarth A. Anchoring the SLIP model: The effect of leg mass on running stability. The 5th International Symposium on Adaptive Motion of Animals and Machines, Oct 11-14, Hyogo, Japan, 2011.
  • Peuker F, Renjewski D, Groß M, Grimmer S, Seyfarth A. Involuntary morphosis - modular simulation of limb damage in quadrupeds. Dynamic Walking, Jul 18-21, Jena, Germany, 2011.
  • Pouya S, Möckel R, Peuker F, Seyfarth A, Ijspeert A. Stability Augmentation of SLIP-like legged locomotion exploiting hip actuation. 14th International Conference on Climbing and Walking Robots, Sep 6-8, Paris, France, 2011.
  • Peuker F, Seyfarth A. Der Einfluss von Beinmasse auf die Stabilität des Rennens im Masse-Feder-Modell. Proceedings of the German association of sports science (dvs-Schriftenreihe). dvs-Jahrestagung, Sektion Biomechanik, Apr 14-16, Jena, Germany, 2011.
  • Groß M, Rummel J. Analysis of Stability with a Trotting Dog Model, 101st Annual Meeting of Deutsche Zoologische Gesellschaft, Sep 19-22, Jena, Germany, 2008.
  • Renjewski D, Seyfarth A, Manoonpong P, Woergoetter F. From Biomechanical Concepts Towards Fast And Robust Robots. Advances in Mobile Robotics: Proc. of 11th CLAWAR, Marques L, Almeida A, Tokhi MO, Virk GS (Eds.), World Scientific: 630-637, 2008.
  • Renjewski D. Design levels for advanced biped walking machines, Dynamic Walking 2008, May 26-29 Delft, Netherlands, 2008.
  • Groß M. Ansätze zur Modellierung der Gangart Trab eines Airedale Terriers (Canis lupus f. familiaris, Canidae) auf der Grundlage experimentell erhobener Daten, Diploma Thesis, University of Jena, Germany, 2008.
  • Peuker F, Grimmer S, Pouya S, Möckel R, Ijspeert A, Seyfarth A. Anchoring the SLIP model: The effect of leg mass on running stability. The 5th International Symposium on Adaptive Motion of Animals and Machines, Oct 11-14, Hyogo, Japan, 2011.
  • Peuker F, Renjewski D, Groß M, Grimmer S, Seyfarth A. Involuntary morphosis - modular simulation of limb damage in quadrupeds. Dynamic Walking, Jul 18-21, Jena, Germany, 2011.
  • Pouya S, Möckel R, Peuker F, Seyfarth A, Ijspeert A. Stability Augmentation of SLIP-like legged locomotion exploiting hip actuation. 14th International Conference on Climbing and Walking Robots, Sep 6-8, Paris, France, 2011.
  • Peuker F, Seyfarth A. Der Einfluss von Beinmasse auf die Stabilität des Rennens im Masse-Feder-Modell. Proceedings of the German association of sports science (dvs-Schriftenreihe). dvs-Jahrestagung, Sektion Biomechanik, Apr 14-16, Jena, Germany, 2011.
  • Groß M, Rummel J. Analysis of Stability with a Trotting Dog Model, 101st Annual Meeting of Deutsche Zoologische Gesellschaft, Sep 19-22, Jena, Germany, 2008.
  • Renjewski D, Seyfarth A, Manoonpong P, Woergoetter F. From Biomechanical Concepts Towards Fast And Robust Robots. Advances in Mobile Robotics: Proc. of 11th CLAWAR, Marques L, Almeida A, Tokhi MO, Virk GS (Eds.), World Scientific: 630-637, 2008.
  • Renjewski D. Design levels for advanced biped walking machines, Dynamic Walking 2008, May 26-29 Delft, Netherlands, 2008.
  • Groß M. Ansätze zur Modellierung der Gangart Trab eines Airedale Terriers (Canis lupus f. familiaris, Canidae) auf der Grundlage experimentell erhobener Daten, Diploma Thesis, University of Jena, Germany, 2008.