Intrinsically elastic robots: The key to human like performance

摘要

Intrinsically elastic robots, which technically implement some key characteristics of the human muskoskeletal system, have become a major research topic in nowadays robotics. These novel devices open up entirely new control approaches. They base on temporary storage of potential energy and its timed transformation into kinetic energy. In legged locomotion, such considerations have been a common tool for unveiling the respective fundamental physical processes. However, in arm control, elasticities were typically considered parasitic. In this video we outline our efforts in exploiting the inherent capabilities of intrinsically elastic robots in order to bring them closer to human performance. Instead of applying purely kinematic learing-by-demonstration approaches, which are certainly suboptimal, we argue for using model based techniques in order to optimally exploit the system dynamics such that highly dynamic motion and manipulation capabilities can be achieved. In particular, the explicit use of elasticities as temporary energy tanks can be fully exploited, if they are modeled adequately as an integral part of the mechanism. We also believe that such approaches can substantially contribute to the understanding of human motion biomechanics.