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    ROBIBIO

    RObot humanoid BI-articular BIO-inspired

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    Research project ROBIBIO

    RObot humanoid BI-articular BIO-inspired

     

    Team: Dynamic and discrete events and Optimization

     

    Labeling: none


    Term: 27 months (02/05/2019 - 30/07/2021)

     

    Funding: Atlanstic RFI 2020

     

    LARIS staff involved: Philippe Lucidarme, Nicolas Delanoue, Franck Mercier, Morgan Langard (Phd student)

     

    Project partners: Yannick Aoustin (LS2N, équipe REV, Nantes)

     

    Abstract and objectives

    Over the past decades, several research teams have developed humanoid robots. This area has progressed strongly and the DARPA Challenge is an illustration. However, the community agrees to say that humanoid robotics is still in its infancy and that many scientific obstacles remain to be leveraged: autonomy, weight reduction, adaptation to exceptional situations ... Dynamic walking and courses are features that still figure scientific and technical brakes are dedicated to this project.

    Historically, humanoid robots have inherited the architectures of industrial robots. The combination of rotary motor (BLDC) and gear boxes (Harmonic Drives®) has established itself thanks to its torque / velocity compromise. Unfortunately, the generally high reduction ratios are a brake on the backdrivability of these actuators. An example of a limitation is the inability of humanoid robots to properly absorb impacts between the feet and the ground during running, jumping or even walking. In the human body, muscles play the dual role of actuators and shock absorbers. Our work is based on the idea that this analysis can be transposed to humanoid robots. Backdrivability then becomes an essential issue. Teams have already taken an interest in it, but the technologies studied have never made it possible to obtain a fully satisfactory result. Hydraulic systems (BigDog and Atlas) are noisy, energy-consuming, expensive and complex to regulate. Pneumatic systems (Pneupard) have low torques and require the integration of a compressor. Cable transmissions (Sherpa and Romeo) struggle to compete with traditional architectures.


    Preliminary proof of concept ; amortized landing for a mono articulated leg.

    This project is based on two working hypotheses: use of linear motors and biarticular architecture. The results of our preliminary studies suggest that they are linked. Direct drive linear motors offer particularly interesting force / speed combinations. But their primary interest lies in their backdrivability which, with an adapted control, makes it possible to obtain amortization capacities (experiment carried out at LARIS, illustrated above). Preliminary simulations suggest that it is possible to amplify these performances by exploiting bi-articular architectures, as animals and humans do. This was further reinforced in 2016 by the Virginia Tech (USA) team, which considers this track as promising. An example of a proposed biarticular architecture is illustrated opposite.