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Modal Nonlinear Resonance for Efficient and Versatile Legged Locomotion

The aim of M-Runners is to thoroughly advance the understanding of fundamental dynamic principles of legged locomotion to the point that those principles can be used to design robots which display similar motion characteristics, v... see more

30/11/2024

DLR

2M€

Project Budget: 2M€

Project leader

DEUTSCHES ZENTRUM FUR LUFT UND RAUMFAHRT EV No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

PARTICIPATION DEPralty Sin fecha límite de participación.

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Financing granted El organismo H2020 notifico la concesión del proyecto The day 2024-11-30

ERC-2018-ADG: ERC Advanced Grant Scope:Objectives

I+D

Cerrada does 7 years

0% 100% 100%

characteristics of the participant

Este proyecto no cuenta con búsquedas de partenariado abiertas en este momento.

Private Information

No hay información privada compartida para este proyecto. Habla con el coordinador.

3 Participantes

DLR

1.86M€ | Leader

SIVSA SOLUCIONES INFORMATICA...

711.70K€ | participant

TUM

631.03K€ | participant

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Project duration: 66 months Date Start: 2019-05-28
End date: 2024-11-30

Project leader

DEUTSCHES ZENTRUM FUR LUFT UND RAUMFAHRT EV No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

Project Budget 2M€

participation deadline Sin fecha límite de participación.

Project description The aim of M-Runners is to thoroughly advance the understanding of fundamental dynamic principles of legged locomotion to the point that those principles can be used to design robots which display similar motion characteristics, versatility, and efficiency as their biological paragons. The central hypothesis of the project is that biological locomotion is fundamentally determined by the mechanical resonance properties of the body and that a breakthrough in robot locomotion is essentially linked to understanding and exploiting these phenomena. If body design is such that walking and running correspond to intrinsic periodic motions of the body, then the control is simple and efficiency and robustness are natural consequences. However, large-amplitude nonlinear oscillations of such complex systems are today still not well understood. Mathematical methods to describe, analyze, design and control elastic resonant robots are lacking to a large extent. The project is thus dedicated to develop a new theory of nonlinear oscillations, applicable to elastic multibody systems, be they biologic or robotic. M-Runners will perform interdisciplinary research at the border between robotics, nonlinear dynamical systems and vibration theory, biomechanics, and machine learning. We will take inspiration from biology regarding the basic motion sequences and the muscle arrangements (couplings, redundancies, compliance distributions). Conversely, we expect our theory to generate new hypotheses for a deeper understanding of locomotion biomechanics and its control by the nervous system. We will design and demonstrate robots which can move at similar speed and mechanical energetic efficiency as animals and humans and which have comparable uneven terrain versatility and robustness. The primary application scenario is space exploration on Mars in canyons, caves or steep ridge slopes. Applications of the technology reach, however, from health-care over personal-assistance to disaster management.

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