Legged robots that balance
International Journal of Robotics Research
Controlling the Walking Period of a Pneumatic Muscle Walker
International Journal of Robotics Research
How to keep from falling forward: elementary swing leg action for passive dynamic walkers
IEEE Transactions on Robotics
Virtual gravity and coupling control for robotic gait synthesis
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Creating and modulating rhythms by controlling the physics of the body
Autonomous Robots
Static model of pneumatic flexible rotary joint
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
The actuator with mechanically adjustable series compliance
IEEE Transactions on Robotics
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An antagonistic muscle mechanism that regulates joint compliance contributes enormously to human dynamic locomotion. Antagonism is considered to be the key for realizing more than one locomotion mode. In this paper, we demonstrate how antagonistic pneumatic actuators can be utilized to achieve three dynamic locomotion modes (walking, jumping, and running) in a biped robot. Firstly, we discuss the contribution of joint compliance to dynamic locomotion, which highlights the importance of tunable compliance. Secondly, we introduce the design of a biped robot powered by antagonistic pneumatic actuators. Lastly, we apply simple feedforward controllers for realizing walking, jumping, and running and confirm the contribution of joint compliance to such multimodal dynamic locomotion. Based on the results, we can conclude that the antagonistic pneumatic actuators are superior candidates for constructing a human-like dynamic locomotor.