Bioinspired Legged Robot Design via Blended Physical and Virtual Impedance Control

Abstract In order to approach the performance of biological locomotion in legged robots, better integration between body design and control is required. that respect, understanding mechanics human will help us build robots with comparable efficient performance. From another perspective, developing bioinspired can also improve our locomotion. this work, we create a robot blended physical virtual impedance configure robot’s mechatronic setup. We consider neural musculoskeletal system blueprint for hopping robot. The hybrid electric-pneumatic actuator (EPA) presents an artificial copy implement control. By defining efficacy as metric encompasses both efficiency, demonstrate incorporating simple force-based besides constant pressure pneumatic muscles (PAM) alone increase efficiency up 21% simulations 7% experiments 2-segmented EPA-hopper Also, show proper adjustment controller PAMs, be further increased 41%. Finally, experimental results 3-segmented comparisons confirm extendability proposed methods more complex robots.