Abstract
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The passive dynamic walking does not require control input. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve energy efficient and stable gate. Therefore, we developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscle. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. Finally, this report shows that the 3D quasi-passive walking in the level ground can realize by the swinging (simple) input of the frontal direction, and the stride of the robot is proportional to lateral-plane input.
Highlights
An energy efficiency and locomotion such as human [1] are very important issues in a biped robot walking
We developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle
This report shows that the 3D quasi-passive walking in the level ground can realize by the swinging input of the frontal direction, and the stride of the robot is proportional to lateral-plane input
Summary
An energy efficiency and locomotion such as human [1] are very important issues in a biped robot walking. A passive dynamic walking has received considerable research attention. Most previous studies of passive dynamic walker with arc-shaped feet (no feet) have been constrained by the locomotion of the sagittal plane [5][6]. Passive walkers with arc-shaped feet are unstable in the upright state. Wisse et al.[7]-[9] studied a 2D passive walker with flat feet and ankle springs by utilizing the equivalence between the torsional spring and the arc-shaped feet. The arc-shaped feet can be replaced by flat feet that are mounted on ankles with torsional spring stiffness. We develop the thee-dimensional quasi-passive walker with flat feet which is driven by antagonistic pneumatic artificial muscle. The paper concludes with the results of the 3D quasi-passive walking in the level ground
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