1A1-F03 A Dynamic Robot with a Pneumatic Artificial Musculoskeletal System

Abstract

To understand dexterity in motion performed by animals, we developed a bipedal dynamic robot with a pneumatic artificial musculoskeletal system. The musculoskeletal system gives animals the ability to move in a huge variety of environments. The artificial musculoskeletal system proposed here is based on the engineering concept of using biological structures as guidelines for robot architecture. In our work, pneumatic artificial muscles are used for the muscular system. In the experiment, the robot achieved the high jumping, softlanding and kicking football. Our results demonstrate the contribution of the artificial musculoskeletal system as a physical feedback loop in explosive movements.