Abstract
It is well known that a robot driven by McKibben pneumatic actuator (MPA) accomplish various and stable motion in spite of its simple control. However, the control and design of these robots depend on trial error. The important property of MPA for stable motion has not been discussed sufficiently. First, we investigate a periodic motion stability of planar-legged robot that consists two links and two MPA. Second, we propose an input design methodology of antagonistic MPA pair for simple periodic motion. Finally, we verified the validity of these results via experiments with the developed robot.
