Design of a biped robot actuated by pneumatic artificial muscles
نویسندگان
چکیده
منابع مشابه
Design of a biped robot actuated by pneumatic artificial muscles.
High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, a...
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This paper describes the biped Lucy and it’s control architecture that will be used. Lucy is actuated by Pleated Pneumatic Artificial Muscles, which have a very high power to weight ratio and an inherent adaptable compliance. These characteristics will be used to let Lucy walk in a dynamically stable manner while exploiting the adaptable passive behaviour of these muscles. A quasi-static global...
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ژورنال
عنوان ژورنال: Bio-Medical Materials and Engineering
سال: 2015
ISSN: 1878-3619,0959-2989
DOI: 10.3233/bme-151367