Study on designing a biped robot with Bi-articular muscle type bilateral servo system

摘要

Current bipedal robots in the world have one motor in one joint. Animals have antagonism bi-articular muscle over two joints, which is arranged at a hip and a knee joint in the thigh as hamstrings and rectus femoris. This research aims at development of the robot that does operation peculiar to animals. When people undertake load, the cural area starts operating ahead of the thigh area in order to control distribution of the moment on each joint. This research is the basic one that develops an articular muscle actuator from a motion study, and applies it to a bipedal robot.