SFB588-R6 Project on Drive Concepts for Two-Legged Walking Humanoid Robots

Within the framework of subproject R6 of the SFB588 Special Research Field "Humanoid Robots - Learning and Cooperating Multimodal Robots" new two-legged robot walking concepts are developed at the Institute for Applied Computer Science. Emphasis is placed on the application of flexible fluidic actuators. The drive elements to be developed are conceived as mechatronic units with the hydraulic, pneumatic, mechanical and electronic components of each individual drive forming compact subassemblies. Each fluidic joint is conceived to be composed of a supporting structure in the form of an aluminium joint, two foil-based flexible fluidic actuators, a valve unit, a position sensor, two pressure sensors, and an MC unit. Communication is via CAN bus. The measurement analyses of the newly developed drive elements show a high power-to-weight ratio of the fluidic actuators as compared to conventional electromotive drives.