Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 51st Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 4T4-4
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Host: The Institute of Systems, Control and Information Engineers

Control of the Biped Walk Utilizing the Compliant Ankle Joint
Shinji Hayashi, *Takashi Takuma, Koh Hosoda
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Keywords: joint compliance, biped walk, pneumatic actuator
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Abstract
Ankle joint compliance plays important role in humans' biped walk. On the other hand, a few researches have referred about the compliance of the biped robot. This paper reports that the physical bipedal walker with the compliant ankle joint is developed and that the different joint compliance provides different cyclic locomotion. In order to obtain the joint compliance, antagonistic pneumatic muscles around the joint is employed.
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© 2007 The Institute of Systems, Control and Information Engineers
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