C24 Development of Bipedal Robot with Pneumatic Cylinders : 2^<nd> Report Control Design

Abstract

We have developed a bipedal robot with compact pneumatic cylinders and with the high levels of structural flexibilities. In the 1st report, we have described the overview of a bipedal robot which we have actually designed and manufactured and then estimated nominal models and the plant uncertainty for control system design from a closed loop system experiment data. In next efforts, we have simulated the behavior of bipedal robot systems with various controllers and evaluated the controllability of the positional and walking motion. We report these results and also refer to possible applications of the developed bipedal robot.