Designing Synergistic Walking of a Humanoid Single Leg Driven by Pneumatic Artificial Muscles: An Empirical Study

Abstract

Pneumatic artificial muscle (PAM) was adopted to drive a robotic leg for better understanding the humanlike walking mechanism which utilized compliant actuators. The associated walking model was established and tested. The designed biped robot with PAMs used linear spring to control the joints antagonistically. A closed-loop proportional-integral-derivative controller was developed for fitting each degrees of freedom of the robot to human gait parameters with a pulse width modulation algorithm. For optimization, an energy-efficient control to human-like walk and stand in a stable manner was proposed.