Motion Control of Parallel Link Leg Mechanism equipped with Bi-articular Muscles

Abstract

This study focused on the propulsion and anti-gravity effects of the parallel link leg mechanism equipped with bi-articular muscles in an animal leg. The bi-articular muscle is an actuator that is only present in the legs of animals. One of the functions of the bi-articular muscle was examined and an animal-like parallel link mechanism constructed with bone and bi-articular muscles. The animal-like parallel link mechanism consists of a mechanical link with the bi-articular muscles, which limits the mechanical degree of freedom and adjusts the direction of ground reaction force. After producing a quadruped robot having animal-like parallel link mechanism experimentally, natural takeoff or landing motions were generated by this function.