Workshop 1: Novel bioinspired actuator designs for robotics (BioAct)
Organizers: Maziar Ahmad Sharbafi, Tom Verstraten, Peter P. Pott, Philipp Beckerle, and Andre Seyfarth
Timeslot: 9:30 – 17:30
Room: Carré 2G
Through evolution, muscles have been optimized to generate and fine-tune motions. They provide highly versatile force sources, i.e., they have extremely low impedance (perfectly back-drivable), provide functional damping and low stiction. Although their bandwidth is limited, it is sufficient for even highly dynamic human/animal locomotion. Some biological principles can be applied to robotics, e.g., the addition of compliance to traditional rigid actuators. Elastic actuators can increase safety in human-robot interaction, improve energy efficiency, reduce impacts and augment performance in dynamic tasks. While such actuators have been researched extensively over the past two decades, there are still various open questions. These relate to the fundamental properties mentioned above, but also to their implementation and control as well as the integration of their hard- and software. Elastic actuators have been applied in wearable robotic devices, rehabilitation robots and humanoid robots. In the last years, bio-inspired approaches have brought the capabilities of elastic actuators closer to those of the human muscle, e.g., by introducing redundancy to mimic the muscle fibre recruitment. Another level of redundancy can be achieved by employing mono- and bi-articular actuators to achieve designs with increased robustness and simplified control. We plan to divide the workshop in four sessions comprising three talks of around 20 minutes. At the end of each session, there will be an extensive discussion (around 30 minutes) between participants and speakers. The speakers are encouraged to present their developments in live demonstrations during their talks and in the subsequent discussion. Besides the invited talks and discussion, the organizers will call for posters to be presented within the workshop.