The DLR C-runner: Concept, design and experiments

Florian Loeffl, Alexander Werner, Dominic Lakatos, Jens Reinecke, Sebastian Wolf, Robert Burger, Thomas Gumpert, Florian Schmidt, Christian Ott, Markus Grebenstein, Alin Albu-Schäffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

22 Scopus citations

Abstract

Legged locomotion requires highly dynamic and efficient actuation as well as robust environment interaction. In the past years soft robots with elastic actuation have been investigated and their fitness for cyclic tasks and safe and robust environment interaction has been shown. To evaluate the benefits and drawbacks of series elastic actuation, variable impedance actuation as well as multi-articular elastic coupling in legged locomotion, we developed a two legged human size test-bed. These modular robotic legs give the possibility to evaluate and directly compare different elastic actuation concepts on a single system. Hopping and bipedal modal motion experiments where performed to proof the concept.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages758-765
Number of pages8
ISBN (Electronic)9781509047185
DOIs
StatePublished - 30 Dec 2016
Externally publishedYes
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 15 Nov 201617 Nov 2016

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
Country/TerritoryMexico
CityCancun
Period15/11/1617/11/16

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