Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles

摘要

Human beings realize adaptive bipedal walking negotiating different terrain, which is still difficult for biped robots driven by electric motors. We developed a biped robot driven by antagonistic artificial muscles that negotiates several types of terrain. Antagonistic muscles combined with a simple feed-forward controller realize joint compliance without a time delay, enabling the robot to adapt to terrain changes and to sense terrain because walking behavior results from interaction between robot dynamics and the terrain. Experimental results demonstrate that the walking cycle changes based on joint compliance and the type of terrain. Using the relationship between the two, the robot regulates its walking cycle by changing its joint compliance. The compliance by such antagonistic muscles is a promising solution for realizing adaptive bipedal walking.