Development of a leg part of a humanoid robot-design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism
- 1 January 1996
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 11 (6), 633-652
- https://doi.org/10.1163/156855397x00128
Abstract
The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length.Keywords
This publication has 14 references indexed in Scilit:
- Analysis of the dynamics of a biped robot with seven degrees of freedomPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Proposal of biped walking control based on robust hybrid position/force controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Adaptive gait control of a biped robot based on realtime sensing of the ground profilePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Adaptive dynamic balance of a biped robot using neural networksPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Development of a dynamic biped walking system for humanoid - development of a biped walking robot adapting to the humans' living floorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Realization of natural dynamic walking using the angular momentum informationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A complete and parametrically continuous kinematic model for robot manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- SIMULTANEOUS MODULATION OF FORCE GENERATION AND MECHANICAL PROPERTY OF MUSCLE IN VOLUNTARY CONTRACTIONBiomechanisms, 1994
- Dynamic walking control of a biped robot along a potential energy conserving orbitIEEE Transactions on Robotics and Automation, 1992
- Modulation of stretch reflexes during locomotion in the mesencephalic catThe Journal of Physiology, 1982