Design of Self-Contained Biped Walker with Pneumatic Actuators

Takashi TAKUMA; Seigo NAKAJIMA; Koh HOSODA; Minoru ASADA

doi:10.11499/sicep.2004.0_17_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_17_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Design of Self-Contained Biped Walker with Pneumatic Actuators

*Takashi TAKUMA, Seigo NAKAJIMA, Koh HOSODA, Minoru ASADA

Author information

Keywords: pneumatic actuator, self-contained biped robot

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 17

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Abstract

This paper describes a developed walking biped robot utilizing McKibben muscles and study on the influence of dynamic parameters on walking behaviors. A McKibben artificial muscle has suitable properties for realizing walking and running biped robot, but controlling McKibben muscles is difficult because of their nonlinearity. Therefore we design the dynamic parameters carefully.

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