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IROS
2008
IEEE

3D bipedal robot with tunable leg compliance mechanism for multi-modal locomotion

10 years 3 months ago
3D bipedal robot with tunable leg compliance mechanism for multi-modal locomotion
— It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walking, jumping and running by single robot. This paper describes a design of bipedal robot and feed forward controller that realize multi-modal locomotion by tuning appropriate leg compliance on individual locomotion. In order to tune physical leg compliance, we adopt rotational joints driven by antagonistic McKibben pneumatic muscles. Experimental results show that proper leg compliance provided by joint compliance and leg posture achieves a walking from standing and a sequential jumping. These results suggest that tunable leg compliance is powerful mechanism for bipedal robot to provide human-like multi-modal locomotion.
Takashi Takuma, Shinji Hayashi, Koh Hosoda
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Takashi Takuma, Shinji Hayashi, Koh Hosoda
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