Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity

Tom Verstraten
Tom Verstraten
Christian Schumacher
Christian Schumacher
Andre Seyfarth
Andre Seyfarth

JOURNAL OF BIONIC ENGINEERING, pp. 695.0-707, 2020.

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Abstract:

Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore omni-present in our physiology. The relationship between redundancy in robotics and biology is investigated in detail on the Series Elastic Dual-Motor Actuator (SEDMA), an actuator inspired by the kinematic redundancy exhibited by myofibrils. The a...More

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