Development of Oscillator-controlled Biped Robot with Pneumatic Actuators

Abstract

The development of an oscillator controller for a bipedal robot with antagonistic pairs of pneumatic actuators is reported. Periodic motion of each leg switches between the swinging and supporting stages based on the oscillator phase. The oscillators make an entrainment with sensory feedback from the touch sensors and compose a steady limit cycle. The effectiveness and performance of the proposed controller were evaluated with numerical simulations and hardware experiments.