Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Design of Low-Cost Modular Bioinspired Electric-Pneumatic Actuator (EPA) Driven Legged Robots

Alessandro Brugnera Silva
,
Marc Murcia
,
Omid Mohseni
ORCID logo ,
Ryu Takahashi
,
Arturo Forner-Cordero
,
Andre Seyfarth
,
Koh Hosoda
,
Maziar Ahmad Sharbafi
* ORCID logo
Version 1 : Received: 2 February 2024 / Approved: 2 February 2024 / Online: 2 February 2024 (14:10:38 CET)

A peer-reviewed article of this Preprint also exists.

Silva, A.B.; Murcia, M.; Mohseni, O.; Takahashi, R.; Forner-Cordero, A.; Seyfarth, A.; Hosoda, K.; Sharbafi, M.A. Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots. Biomimetics 2024, 9, 164. Silva, A.B.; Murcia, M.; Mohseni, O.; Takahashi, R.; Forner-Cordero, A.; Seyfarth, A.; Hosoda, K.; Sharbafi, M.A. Design of Low-Cost Modular Bio-Inspired Electric–Pneumatic Actuator (EPA)-Driven Legged Robots. Biomimetics 2024, 9, 164.

Abstract

Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in Electric-Pneumatic Actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monopod robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, 1) provide opportunities to study different locomotor subfunctions— stance, swing, and balance; 2) help investigate the role of actuation schemes in tasks such as hopping and walking; and 3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.

Keywords

legged locomotion; compliant actuation; pneumatic Artificial muscles; mechanical intelligence; control embodiment

Subject

Engineering, Electrical and Electronic Engineering

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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