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2020


FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain
FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain

Felix Ruppert, , Badri-Spröwitz, A.

In Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, International Conference on Robotics and Automation, May 2020 (inproceedings) Accepted

Abstract
In this paper, we present FootTile, a foot sensor for reaction force and center of pressure sensing in challenging terrain. We compare our sensor design to standard biomechanical devices, force plates and pressure plates. We show that FootTile can accurately estimate force and pressure distribution during legged locomotion. FootTile weighs 0.9g, has a sampling rate of 330 Hz, a footprint of 10×10 mm and can easily be adapted in sensor range to the required load case. In three experiments, we validate: first, the performance of the individual sensor, second an array of FootTiles for center of pressure sensing and third the ground reaction force estimation during locomotion in granular substrate. We then go on to show the accurate sensing capabilities of the waterproof sensor in liquid mud, as a showcase for real world rough terrain use.

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Youtube1 Youtube2 Presentation link (url) [BibTex]

2020


Youtube1 Youtube2 Presentation link (url) [BibTex]


VP above or below? A new perspective on the story of the virtual point
VP above or below? A new perspective on the story of the virtual point

Drama, Ö., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
The spring inverted pendulum model with an extended trunk (TSLIP) is widely used to investigate the postural stability in bipedal locomotion [1, 2]. The challenge of the model is to define a hip torque that generates feasible gait patterns while stabilizing the floating trunk. The virtual point (VP) method is proposed as a simplified solution, where the hip torque is coupled to the passive compliant leg force via a virtual point. This geometric coupling is based on the assumption that the instantaneous ground reaction forces of the stance phase (GRF) intersect at a single virtual point.

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Poster Abstract link (url) [BibTex]

Poster Abstract link (url) [BibTex]


Viscous Damping in Legged Locomotion
Viscous Damping in Legged Locomotion

Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
Damping likely plays an essential role in legged animal locomotion, but remains an insufficiently understood mechanism. Intrinsic damping muscle forces can potentially add to the joint torque output during unexpected impacts, stabilise movements, convert the system’s energy, and reject unexpected perturbations.

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Abstract Poster link (url) [BibTex]

Abstract Poster link (url) [BibTex]


How Quadrupeds Benefit from Lower Leg Passive Elasticity
How Quadrupeds Benefit from Lower Leg Passive Elasticity

Ruppert, F., Badri-Spröwitz, A.

Dynamic Walking, May 2020 (poster)

Abstract
Recently developed and fully actuated, legged robots start showing exciting locomotion capabilities, but rely heavily on high-power actuators, high-frequency sensors, and complex locomotion controllers. The engineering solutions implemented in these legged robots are much different compared to animals. Vertebrate animals share magnitudes slower neurocontrol signal velocities [1] compared to their robot counterparts. Also, animals feature a plethora of cascaded and underactuated passive elastic structures [2].

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Abstract Poster link (url) [BibTex]


Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds
Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds

Kamska, V., Daley, M., Badri-Spröwitz, A.

Society of Integrative & Comparative Biology Annual Meeting, January 2020 (poster)

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[BibTex]

[BibTex]