Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion

被引：109

作者：

Hosoda, Koh ^{[1
]}

Takuma, Takashi ^{[1
]}

Nakamoto, Atsushi ^{[1
]}

Hayashi, Shinji ^{[1
]}

机构：

[1] Osaka Univ, Grad Sch Engn, Dept Adapt Machine Syst, Suita, Osaka 565, Japan

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 01期

关键词：

biped locomotion; humanoid robots; multimodal locomotion; pneumatic actuators;

D O I：

10.1016/j.robot.2007.09.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An antagonistic muscle mechanism that regulates joint compliance contributes enormously to human dynamic locomotion. Antagonism is considered to be the key for realizing more than one locomotion mode. In this paper, we demonstrate how antagonistic pneumatic actuators can be utilized to achieve three dynamic locomotion modes (walking, jumping, and running) in a biped robot. Firstly, we discuss the contribution of joint compliance to dynamic locomotion, which highlights the importance of tunable compliance. Secondly, we introduce the design of a biped robot powered by antagonistic pneumatic actuators. Lastly, we apply simple feedforward controllers for realizing walking, jumping, and running and confirm the contribution of joint compliance to such multimodal dynamic locomotion. Based on the results, we can conclude that the antagonistic pneumatic actuators are superior candidates for constructing a human-like dynamic locomotor. (c) 2007 Elsevier B.V. All rights reserved.

引用

页码：46 / 53

页数：8

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