2P2-I17 Continuous Jump of a Legged Robot equipped with Bi-articular Muscles

Abstract

Human muscular-skeleton structure is supposed to play an important role for realizing dynamic locomotion such as jumping and running. This paper investigates the effect of human-like morphology for dynamic bouncing. We design a monopod that has biomimetic muscular-skeleton structure inculuding biarticular muscles and confirm that biarticular muscles strongly governed the posture through bouncing. Experimental results show that a control scheme for stable bouncing is very simple even though the pneumatic artificial muscles have complicated characteristics.