Stiffness Bias Control for Frontal Posture Based on Hopping Map of Musculoskeletal Biped Robot

Abstract

The purpose of the research is to realize stable continuous hopping using musculoskeletal biped robot actuated by pneumatic artificial muscle. We proposed a method to model robot dynamics with a data driven method. We created a model by simulation, and applied that model to a musculoskeletal biped robot and achieved two hopping.