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NatDyReL

Financiado

Cerrado

Utilizing Natural Dynamics for Reliable Legged Locomotion

Despite the significant progress made in the field of humanoid robotics over the last 10-15 years, bipedal locomotion in robotics is still far from human performance in terms of speed, versatility, and robustness. The design of mo... ver más

30/09/2024

TU WIEN

2M€

Presupuesto del proyecto: 2M€

Líder del proyecto

TECHNISCHE UNIVERSITAET WIEN No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

Fecha límite participación Sin fecha límite de participación.

Ver 3 Participantes

Financiación concedida El organismo H2020 notifico la concesión del proyecto el día 2024-09-30

ERC-2018-COG: ERC Consolidator Grant

I+D

Cerrada hace 6 años

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Información adicional privada

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

3 Participantes

TU WIEN

413.80K€ | Lider

MARMOLES ANTONIO EL DE PURA

216.60K€ | Participante

DLR

1.57M€ | Participante

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Duración del proyecto: 66 meses Fecha Inicio: 2019-03-13
Fecha Fin: 2024-09-30

Líder del proyecto

TECHNISCHE UNIVERSITAET WIEN No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

Presupuesto del proyecto 2M€

Fecha límite de participación Sin fecha límite de participación.

Descripción del proyecto Despite the significant progress made in the field of humanoid robotics over the last 10-15 years, bipedal locomotion in robotics is still far from human performance in terms of speed, versatility, and robustness. The design of most humanoid robots nowadays is dominated by the aim at high rigidity and position accuracy in the motor units. In contrast, the NatDyReL project aims at a fundamental shift of paradigm in the design and control of humanoid robots, towards a new generation of intrinsically compliant robots that can adjust their open loop actuator impedance in real-time to the task. We believe that the maturing technology of variable impedance actuators in combination with novel control approaches for the intrinsically elastic dynamics has the potential of bringing humanoid locomotion and multi-contact motions to a new level in terms of energy-efficiency and execution speeds more similar to the human archetype. However, to fully utilize the ultimate benefits promised by variable impedance actuators, i.e. to store and release energy as well as to provide physical protection against shocks caused by impacts, it is necessary to exploit the natural compliant whole body dynamics on all levels of the system design, planning and control hierarchies. This project follows two scientific tracks for achieving (a) energetically efficient and high performant legged locomotion and (b) robust and dynamic contact transitions and in-contact motions for whole body locomotion in uncertain and confined spaces. As a strong basis to the mentioned application oriented objectives, we also aim at fundamental contributions on the control challenges related to novel variable impedance actuator technologies. The project is expected to make a strong impact on bipedal humanoid locomotion. Moreover, the developed methods will be sufficiently general such that they can also be transferred to other morphologies such as e.g. multi-limbed walking or climbing robots.

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