Design and Control of a 3D Biped Robot Actuated by Antagonistic Pairs of Pneumatic Muscles
نویسندگان
چکیده
A joint driving mechanism with antagonistic pairs of muscles is supposed to be essential for humans and animals to realize various kinds of locomotion such as walking, running, and jumping. This paper describes design and control of a biped robot “Pneu–Man” whose joints are driven by antagonistic pairs of McKibben artificial muscles. Since the body is welldesigned for walking, required control is surprisingly compact. The experimental results demonstrate the walking performance of Pneu–Man.
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تاریخ انتشار 2005