Innovating Works

M-Runners

Financiado
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... 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. ver más
30/11/2024
DLR
2M€
Duración del proyecto: 66 meses Fecha Inicio: 2019-05-28
Fecha Fin: 2024-11-30

Línea de financiación: concedida

El organismo H2020 notifico la concesión del proyecto el día 2019-05-28
Línea de financiación objetivo El proyecto se financió a través de la siguiente ayuda:
ERC-2018-ADG: ERC Advanced Grant
Cerrada hace 6 años
Presupuesto El presupuesto total del proyecto asciende a 2M€
Líder del proyecto
DEUTSCHES ZENTRUM FUR LUFT UND RAUMFAHRT EV No se ha especificado una descripción o un objeto social para esta compañía.
Perfil tecnológico TRL 4-5