The Positions Effect Of Biarticular Muscles On The Walking Fatigue Of Bipedal Robots

摘要

The objective of this paper is to model a bipedal robot with springs like biarticular muscles and to study the positions effect of biarticular muscles on the walking fatigue of bipedal robots through the analysis of the works of the ground reaction force (GRF) accumulated at joints and the analysis of the works done by biarticular muscles. We can define the walking fatigue in this paper by the fatigue of joints and muscles caused by the increment of the works accumulated at joints and the increment of the works done by biarticular muscles during the walk period of bipedal robots. It’s found from this study that the position of the muscle biceps femoris (BF) has a strong impact on the fatigue of leg joints and the fatigue of the muscle itself during the walk period of bipedal robots.