Biologically Inspired Series-Parallel Hybrid Robots. Design, Analysis and Control

Table of Contents

Part 1: Introduction to Biologically Inspired Hybrid Robots
1. Motivation
2. Modular and Decentralized Design Principles

Part 2: Geometric Analysis
3. Modern methods in Geometric Analysis (4 bar mechanism, slider crank)
4. Study of 2-DOF Parallel Mechanisms (2SPRR+1U, 2SPU+1U)
5. Study of 3-DOF Parallel Mechanisms (Active Ankle)
6. Study of 6-DOF Parallel Mechanisms (6-UPS, 6-RUS)

Part 3: Kinematics, Dynamics and Control
7. Kinematics and Dynamics of Tree-Type systems
8. Modular Algorithms for Kinematics and Dynamics of series-parallel hybrid robots
9. Learning and Control approaches for hybrid robots

Part 4: Mechatronic System Design of Some Hybrid Robots
10. Hominid robot Charlie
11. Multi-legged robot Mantis
12. Active Suspension Rover: SherpaTT
13. Recupera-Reha Exoskeleton
14. RH5 Humanoid
15. Lola humanoid
16. NASA Valkyrie

Part 5: Outlook
17. Parallel redundant mechanisms
18. Soft actuation modules
19. Computational Design of Hybrid Robots
20. Conclusion and Future Work

Authors

Shivesh Kumar Researcher and Team leader, Mechanics and Control team, Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), Bremen, Germany. Shivesh Kumar is a researcher and team leader of the Mechanics & Control team at the Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), Bremen. He obtained his PhD degree (Dr. rer. nat.) from Faculty of Mathematics and Computer Science at the University of Bremen in November 2019 with summa cum laude. Previously, he holds a master's degree in Control Engineering, Robotics, and Applied Informatics with specialization in Advanced Robotics from Ecole Centrale de Nantes, France in 2015 and bachelor's degree in Mechanical Engineering from National Institute of Technology Karnataka, India in 2013. His research interests include kinematics, dynamics and control of robots with applications in the fields of exoskeletons, humanoids, rehabilitation and industrial automation. Andreas Mueller Professor, Robotics, Johannes Kepler University, Linz, Austria. Andreas Mueller obtained diploma degrees in mathematics (1997), electrical engineering (1998), and mechanical engineering (2000), and a Ph.D. in mechanics (2004). He received his habilitation in mechanics (2008) and is currently professor in robotics at the Johannes Kepler University, Linz, Austria. His current research interests include holistic modeling, model-based and optimal control of mechatronic systems, redundant robotic systems, parallel kinematic machines, biomechanics, and computational dynamics. Frank Kirchner Professor, University of Bremen; Director, Robotics Innovation Center (RIC), Bremen, Germany. Frank Kirchner studied computer science and neurobiology at the University Bonn from 1989 until 1994, where he received his Dr. rer. nat. degree in computer science in 1999. Since 1994 he was Senior Scientist at the Gesellschaft für Mathematik und Datenverarbeitung (GMD) in Sankt Augustin and a Senior Scientist at the Department for Electrical Engineering from 1998 at Northeastern University in Boston, MA, USA. In 1999, Dr. Kirchner first was appointed adjunct and then Tenure Track Assistant Professor at the Northeastern University, and since 2002 as a Full Professor at the University of Bremen. Since December 2005, Dr. Kirchner is also Director of the Robotics Innovation Center (RIC) in Bremen.