Abstract
This work is concerned with the development of SORLs, a biped walking robot using Strand-Muscle Actuators (SMAs). The SMAs drive a joint by antagonist muscles, and joint angle and stiffness are easily controlled by their nonlinear elastic properties like mammals. Having simple mechanism a multi-D.O.F. failure-tolerant joint is easy to realize by their multiple mounting to the joint. Moreover the joint is suitable for flexible and complex motions, and can adapt to various environments. In this article the mechanism of SORLs is introduced, and then the experimental results of stand-up motion and stand-on-one-foot motion are shown, which verified the usability of SORLs.
