AAU-BOT1: a platform for studying dynamic, life-like walking

Mads Sølver Svendsen, Jan Helbo, Michael Rygaard Hansen, Dejan B. Popovic, Jakob Stoustrup, Mikkel Melters Pedersen

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

1 Citation (Scopus)
318 Downloads (Pure)

Resumé

Udgivelsesdato: 18/6/09
OriginalsprogEngelsk
TidsskriftApplied Bionics and Biomechanics
Vol/bind6
Udgave nummer3-4
Sider (fra-til)285-299
Antal sider14
ISSN1176-2322
DOI
StatusUdgivet - 2009

Fingerprint

Walking
Robots
Costs and Cost Analysis
Toe Joint
Orthotic Devices
Biomedical Technology
Torque
Prostheses and Implants
Leg
Extremities
Joints
Students
Costs
Prosthetics
Health
Hardware
Sensors

Emneord

  • humanoid robot
  • dynamisk gang
  • mekanisk design af humanoid robot
  • protese

Citer dette

Svendsen, Mads Sølver ; Helbo, Jan ; Hansen, Michael Rygaard ; Popovic, Dejan B. ; Stoustrup, Jakob ; Pedersen, Mikkel Melters. / AAU-BOT1 : a platform for studying dynamic, life-like walking. I: Applied Bionics and Biomechanics. 2009 ; Bind 6, Nr. 3-4. s. 285-299.
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title = "AAU-BOT1: a platform for studying dynamic, life-like walking",
abstract = "This paper describes the development of the humanoid robot AAU-BOT1. The purpose of the robot is to investigate human-like walking and in this connection, test prosthetic limbs. AAU-BOT1 has been designed with modularity in mind making it possible to replace, e.g. the lower leg to test transfemoral or transtibial prosthesis or orthosis. Recorded motion data from a male test person, along with approximated inertial and mass properties, were used to determine necessary joint torques in human walking which was used as design parameters for the robot. The robot has 19 degrees of freedom (DoF), 17 actuated and 2 unactuated acting as passive toe joints. The project was granted 60,000 Euro, and to keep development costs below this, the development and instrumentation was carried out by three groups of master students from the Department ofMechanical Engineering (ME) and the Department of Electronic Systems at Aalborg University and supported by the Department of Health Sciences and Technology (HST). To further reduce the cost, the robot uses off-the-shelf hardware which also reduced the time from idea to practical implementation. The result is a low-cost humanoid robot fully assembled and equipped with sensors ready to take its first steps",
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author = "Svendsen, {Mads S{\o}lver} and Jan Helbo and Hansen, {Michael Rygaard} and Popovic, {Dejan B.} and Jakob Stoustrup and Pedersen, {Mikkel Melters}",
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AAU-BOT1 : a platform for studying dynamic, life-like walking. / Svendsen, Mads Sølver; Helbo, Jan; Hansen, Michael Rygaard; Popovic, Dejan B.; Stoustrup, Jakob; Pedersen, Mikkel Melters.

I: Applied Bionics and Biomechanics, Bind 6, Nr. 3-4, 2009, s. 285-299.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

TY - JOUR

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T2 - a platform for studying dynamic, life-like walking

AU - Svendsen, Mads Sølver

AU - Helbo, Jan

AU - Hansen, Michael Rygaard

AU - Popovic, Dejan B.

AU - Stoustrup, Jakob

AU - Pedersen, Mikkel Melters

PY - 2009

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N2 - This paper describes the development of the humanoid robot AAU-BOT1. The purpose of the robot is to investigate human-like walking and in this connection, test prosthetic limbs. AAU-BOT1 has been designed with modularity in mind making it possible to replace, e.g. the lower leg to test transfemoral or transtibial prosthesis or orthosis. Recorded motion data from a male test person, along with approximated inertial and mass properties, were used to determine necessary joint torques in human walking which was used as design parameters for the robot. The robot has 19 degrees of freedom (DoF), 17 actuated and 2 unactuated acting as passive toe joints. The project was granted 60,000 Euro, and to keep development costs below this, the development and instrumentation was carried out by three groups of master students from the Department ofMechanical Engineering (ME) and the Department of Electronic Systems at Aalborg University and supported by the Department of Health Sciences and Technology (HST). To further reduce the cost, the robot uses off-the-shelf hardware which also reduced the time from idea to practical implementation. The result is a low-cost humanoid robot fully assembled and equipped with sensors ready to take its first steps

AB - This paper describes the development of the humanoid robot AAU-BOT1. The purpose of the robot is to investigate human-like walking and in this connection, test prosthetic limbs. AAU-BOT1 has been designed with modularity in mind making it possible to replace, e.g. the lower leg to test transfemoral or transtibial prosthesis or orthosis. Recorded motion data from a male test person, along with approximated inertial and mass properties, were used to determine necessary joint torques in human walking which was used as design parameters for the robot. The robot has 19 degrees of freedom (DoF), 17 actuated and 2 unactuated acting as passive toe joints. The project was granted 60,000 Euro, and to keep development costs below this, the development and instrumentation was carried out by three groups of master students from the Department ofMechanical Engineering (ME) and the Department of Electronic Systems at Aalborg University and supported by the Department of Health Sciences and Technology (HST). To further reduce the cost, the robot uses off-the-shelf hardware which also reduced the time from idea to practical implementation. The result is a low-cost humanoid robot fully assembled and equipped with sensors ready to take its first steps

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KW - dynamisk gang

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KW - protese

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KW - testbed for prosthetics

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