Development of a Biped Walking Robot with Antagonistic Actuation
نویسندگان
چکیده
This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semipassive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonistic actuation was realized by using motors and wires. A control algorithm utilizing the antagonism for walking motion was proposed and applied to the walking experiment by using the developed robot. The results of the walking experiment conducted using the proposed control algorithm are presented and discussed.
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