Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs

摘要

www.lauflabor.uni-jena.de The long-term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multimodal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design. 1