Design of self-contained biped walker with pneumatic actuators

被引：0

作者：

机构：

[1] Takuma, Takashi

[2] Nakajima, Seigo

[3] 1,Hosoda, Koh

[4] 1,Asada, Minoru

来源：

Takuma, T. (takuma@er.ams.eng.osaka-u.ac.jp) | / Society of Instrument and Control Engineers, (SICE); IEEE Industrial Electronics Society; IEEE Robotics and Automation Society; IEEE Control Systems Society; IEEE Systems, Man and Cybernetics Society卷 / Society of Instrument and Control Engineers (SICE)期

关键词：

Experimental; (EXP);

D O I：

暂无

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学科分类号：

摘要：

A McKibben artificial muscle has suitable properties for realizing walking and running biped robots such as light weight, springy nature, and efficiency. Since controlling McKibben muscles is difficult because of their nonlinearity, we have to design robot dynamic parameters carefully. If the parameters are designed properly, the walking controller can be simple. In this paper, we describe a developed walking biped robot utilizing McKibben muscles and study on the influence of dynamic parameters on walking behaviors.

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