The effect of mono and biarticular muscles on the dynamic of walking bipedal robot

摘要

Human uses various types of muscles for hopping, walking, jumping, running and other dynamic actions. Researchers study the mechanical properties of these muscles and then try to make use in their robotic systems. Among these muscles in human legs are mono and biarticular muscles which have the property to produce a large torque around the joint with the connecting points relatively close to the joints. Consequently, the objective of this paper is to model a bipedal robot with springs like mono and biarticular muscles which correspond to rectus femoris (RF), biceps femoris (BF), gastrocnemius (GAS) and tibialis anterior (TA) in human legs and to study the effect of those muscles on the total work of each leg during walking. Matlab/Simulink is used to model and simulate the bipedal robot based on ZMP method and import the results to the software LMS AMESIM to study the dynamic of bipedal robot during walking by using Newton-Euler method.