Biped Robot with Adductor Muscles and Learning-friendly Body

Abstract

We are developing biped robots based on passive dynamical mechanism. Because humans can walk and run with the same body, it is possible to discuss in a unified manner, and the same thing can be applied to robots. Therefore, it is desirable to introduce the same mechanism for both walking and running robots. In this study, we focused on adductor muscles and verified the effectiveness of them on both walking and running robot. In addition we also introduced the adductor muscles into a jumping robot for machine learning to make it easier for the robot to learn. As a result, we showed effectiveness of the adductor muscles on biped robots.