A Legged Robot With Thigh Bi-Articular Muscle-Tendon Complex

Recently, the development of agile-legged robots that mimic structures and functions biological muscles tendons quadruped mammals has attracted significant attention. The driving force elastic can help improve performances these robots. Thus far, most have been developed based on muscle-tendon complex lower legs. However, some a larger upper legs, which contributes significantly to agile movements. In this study, legged robot mimics bi-articular thigh was developed, its effects static dynamic movements were verified through simulations experiments. While maintaining posture, transfer torque between two joints in mechanism reduced power consumption by robot’s motors half, used for balancing gravity robot. For vertical jump, motion trajectory generation performed using non-linear optimization maximize jump height. As result, height enhanced effect mechanism, more than twice leg length.