Mattias Schäffersmann

+49 521 106-5172
Faculty of Technology
Project title: 
Efficient movement behaviour in walking robots by means of biomimetic, mechanoreceptor-based control
Several walking robots are modelled after animals, such as the six-legged robot HECTOR, which is modelled after stick insects. Control of these robots is usually based on posture and load data gathered by classical electro-mechanical sensors like joint angle and torque sensors. However, the animals that the robots are based on use different sensor principles as compared to technical sensors. A stick insect, for instance, uses campaniform sensilla to measure skeletal strain caused by load forces. This project's aim is to incorporate skeletal load information gathered on robotic limbs into the walking control to improve energy efficiency and performance on unknown grounds.