| Issue |
MATEC Web of Conferences
Volume 51, 2016
2016 International Conference on Mechanical, Manufacturing, Modeling and Mechatronics (IC4M 2016)
|
|
|---|---|---|
| Article Number | 02009 | |
| Number of page(s) | 6 | |
| Section | Chapter 2: Design and Development of Engineering Devices | |
| DOI | https://doi.org/10.1051/matecconf/20165102009 | |
| Published online | 06 April 2016 | |
Level-Ground Walking for 3D Quasi-Passive Walker with Flat Feet - Lateral-plane Input using McKibben-Type Artificial Muscle -
Okayama University of Science, Engineering Graduate Course, 1-1 Ridai-cho, Kita-ku, Okayama, Japan
a Corresponding author: fuji@are.ous.ac.jp
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The passive dynamic walking does not require control input. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve energy efficient and stable gate. Therefore, we developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscle. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. Finally, this report shows that the 3D quasi-passive walking in the level ground can realize by the swinging (simple) input of the frontal direction, and the stride of the robot is proportional to lateral-plane input.
© Owned by the authors, published by EDP Sciences, 2016
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