DigitalMobilEuropan Campus Rottal-Inn
Beitrag (Sammelband oder Tagungsband)
V. Dürr, P. Arena, H. Cruse, Ch.J. Dallmann, A. Drimus, T. Hoinville, T. Krause, Stefan Mátéfi-Tempfli, J. Paskarbeit, L. Patane, M. Schilling, J. Schmitz, R. Strauss, A. Vitanza, A. Schneider
Integrative Biomimetics of Autonomous Hexapedal Locomotion
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) [November 3-8, 2019; Macau, China]
Despite substantial advances in many different fields of neurorobotics in general, and biomimetic robots in particular, a key challenge is the integration of concepts: to collate and combine research on disparate and conceptually disjunct research areas in the neurosciences and engineering sciences. We claim that the development of suitable robotic integration platforms is of particular relevance to make such integration of concepts work in practice. Here, we provide an example for a hexapod robotic integration platform for autonomous locomotion. In a sequence of six focus sections dealing with aspects of intelligent, embodied motor control in insects and multipedal robots—ranging from compliant actuation, distributed proprioception and control of multiple legs, the formation of internal representations to the use of an internal body model—we introduce the walking robot HECTOR as a research platform for integrative biomimetics of hexapedal locomotion. Owing to its 18 highly sensorized, compliant actuators, light-weight exoskeleton, distributed and expandable hardware architecture, and an appropriate dynamic simulation framework, HECTOR offers many opportunities to integrate research effort across biomimetics research on actuation, sensory-motor feedback, inter-leg coordination, and cognitive abilities such as motion planning and learning of its own body size.
NachhaltigAngewandte Naturwissenschaften und WirtschaftsingenieurwesenIPH Teisnach
R. Schachtschneider, I. Fortmeier, M. Stavridis, J. Asfour, G. Berger, R. Bergmann, A. Beutler, T. Blümel, H. Klawitter, K. Kubo, Johannes Liebl, F. Löffler, R. Meeß, C. Pruss, D. Ramm, M. Sandner, G. Schneider, M. Wendel, I. Widdershoven, M. Schulz, C. Elster
Interlaboratory comparison measurements of aspheres
Measurement Science and Technology, vol. 29, no. 5
The need for high-quality aspheres is rapidly growing, necessitating increased accuracy in their measurement. A reliable uncertainty assessment of asphere form measurement techniques is difficult due to their complexity. In order to explore the accuracy of current asphere form measurement techniques, an interlaboratory comparison was carried out in which four aspheres were measured by eight laboratories using tactile measurements, optical point measurements, and optical areal measurements. Altogether, 12 different devices were employed. The measurement results were analysed after subtracting the design topography and subsequently a best-fit sphere from the measurements. The surface reduced in this way was compared to a reference topography that was obtained by taking the pointwise median across the ensemble of reduced topographies on a $1000 \times 1000$ Cartesian grid. The deviations of the reduced topographies from the reference topography were analysed in terms of several characteristics including peak-to-valley and root-mean-square deviations. Root-mean-square deviations of the reduced topographies from the reference topographies were found to be on the order of some tens of nanometres up to 89 nm, with most of the deviations being smaller than 20 nm. Our results give an indication of the accuracy that can currently be expected in form measurements of aspheres.