Designing Synergistic Walking of a Whole-Body Humanoid Driven by Pneumatic Artificial Muscles: An Empirical Study

Our body consists of many body parts that are compliantly connected with each other by muscles and ligaments, and their behavior emerges out of the synergy of the whole-body dynamics. Such synergistic behavior generation is supposed to contribute to human adaptive movement such as walking. This pape...

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Bibliographic Details
Published in:Advanced robotics 2008-01, Vol.22 (10), p.1107-1123
Main Authors: Narioka, Kenichi, Hosoda, Koh
Format: Article
Language:English
Subjects:
HUMANOID ROBOT
INCREMENTAL DESIGN APPROACH
MCKIBBEN PNEUMATIC ARTIFICIAL MUSCLE
SYNERGISTIC MOTION
THREE-DIMENSIONAL BIPED WALKING
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Summary:Our body consists of many body parts that are compliantly connected with each other by muscles and ligaments, and their behavior emerges out of the synergy of the whole-body dynamics. Such synergistic behavior generation is supposed to contribute to human adaptive movement such as walking. This paper describes designing synergistic walking of a whole-body humanoid robot whose joints are driven by artificial pneumatic muscles antagonistically. We propose to take an incremental design approach to deal with the complicated dynamics of the system. As a result, we can determine control parameters that govern whole-body behavior. We experimentally demonstrate that the humanoid walks stably with a simple limit-cycle controller.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855308X324811