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

Takashi Takuma; Koh Hosoda

doi:10.20965/jrm.2007.p0423

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JRM Vol.19 No.4 pp. 423-428

doi: 10.20965/jrm.2007.p0423

(2007)

Paper:

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

Takashi Takuma and Koh Hosoda

Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:

January 17, 2007

Accepted:

April 12, 2007

Published:

August 20, 2007

Keywords:

pneumatic actuator, antagonism, passive dynamic walker, terrain negotiation, feedback controller

Abstract

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.

Cite this article as:

T. Takuma and K. Hosoda, “Terrain Negotiation of a Compliant Biped Robot Driven by Antagonistic Artificial Muscles,” J. Robot. Mechatron., Vol.19 No.4, pp. 423-428, 2007.

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References

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http://www.hitachi-medical.co.jp/english/index.htm
[2] SMC web Page.
http://www.smcworld.com
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[4] C. T. Farley and O. González, “Leg Stiffness and Stride Frequency in Human Running,” Journal of Biomechanics, Vol.29, No.2, pp. 181-186, 1996.
[5] R. Q. van der Linde, “Passive bipedal walking with phasic muscle contraction,” Biological Cybernetics, Vol.81, No.3, pp. 227-237, 1999.
[6] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” In Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA), pp. 1321-1326, 1998.
[7] I. Park, J. Kim, S. Park, and J. Oh, “Development of Humanoid Robot Platform KHR-2,” In IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids), CD-ROM, 2004.
[8] K. Akachi, K. Kaneko, N. Kanehira, S. Ota, G. Miyamori, M. Hirata, S. Kajita, and F. Kanehiro, “Development of humanoid robot HRP-3P,” In Proceedings of 2005 IEEE/RSJ International Conference on Humanoid Robots, pp. 50-55, 2005.
[9] A. D. Kuo, “Energetics of actively powered locomotion using the simples walking model,” Journal of Biomechanical Engineering, Vol.124, No.1, pp. 113-120, February, 2002.
[10] T. McGeer, “Passive Dynamic Walking,” International Journal of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
[11] T. Takuma and K. Hosoda, “Controlling the walking period of a pneumatic muscle walker,” International Journal of Robotics Research, Vol.25, No.9, pp. 861-866, 2006.
[12] T. Takuma, S. Nakajima, M. Asada, and K. Hosoda, “Design of Self-Contained Biped Walker with Pneumatic Actuators,” In SICE Annual Conference, CD-ROM, 2004.
[13] R. Q. van der Linde, “Design, Analysis, and Control of a Low Power Joint for Walking Robots, by Phasic Activation of McKibben Muscles,” IEEE Transactions on Robotics and Automation, Vol.15, No.4, pp. 599-604, 1999.
[14] M. Wisse and J. van Frankenhuyzen, “Design and Construction of MIKE; 2D autonomous biped based on passive dynamic walking,” In 2nd International Symposium on Adaptive Motion of Animals and Machined (AMAM), 2002.
[15] Y. S. Yoon and J. M. Mansour, “The Passive Elastic Moment at the Hip,” Journal of Biomechanics, Vo.15, No.12, pp. 905-910, 1982.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] HITACHI Medical corporation web page.
http://www.hitachi-medical.co.jp/english/index.htm

[2] [2] SMC web Page.
http://www.smcworld.com

[3] [3] C. P. Chou and B. Hannaford, “Measurement and Modeling of McKibben Pneumatic Artificial Muscles,” IEEE Transactions on Robotics and Automation, Vol.12, No.1, pp. 90-102, 1996.

[4] [4] C. T. Farley and O. González, “Leg Stiffness and Stride Frequency in Human Running,” Journal of Biomechanics, Vol.29, No.2, pp. 181-186, 1996.

[5] [5] R. Q. van der Linde, “Passive bipedal walking with phasic muscle contraction,” Biological Cybernetics, Vol.81, No.3, pp. 227-237, 1999.

[6] [6] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” In Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA), pp. 1321-1326, 1998.

[7] [7] I. Park, J. Kim, S. Park, and J. Oh, “Development of Humanoid Robot Platform KHR-2,” In IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids), CD-ROM, 2004.

[8] [8] K. Akachi, K. Kaneko, N. Kanehira, S. Ota, G. Miyamori, M. Hirata, S. Kajita, and F. Kanehiro, “Development of humanoid robot HRP-3P,” In Proceedings of 2005 IEEE/RSJ International Conference on Humanoid Robots, pp. 50-55, 2005.

[9] [9] A. D. Kuo, “Energetics of actively powered locomotion using the simples walking model,” Journal of Biomechanical Engineering, Vol.124, No.1, pp. 113-120, February, 2002.

[10] [10] T. McGeer, “Passive Dynamic Walking,” International Journal of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.

[11] [11] T. Takuma and K. Hosoda, “Controlling the walking period of a pneumatic muscle walker,” International Journal of Robotics Research, Vol.25, No.9, pp. 861-866, 2006.

[12] [12] T. Takuma, S. Nakajima, M. Asada, and K. Hosoda, “Design of Self-Contained Biped Walker with Pneumatic Actuators,” In SICE Annual Conference, CD-ROM, 2004.

[13] [13] R. Q. van der Linde, “Design, Analysis, and Control of a Low Power Joint for Walking Robots, by Phasic Activation of McKibben Muscles,” IEEE Transactions on Robotics and Automation, Vol.15, No.4, pp. 599-604, 1999.

[14] [14] M. Wisse and J. van Frankenhuyzen, “Design and Construction of MIKE; 2D autonomous biped based on passive dynamic walking,” In 2nd International Symposium on Adaptive Motion of Animals and Machined (AMAM), 2002.

[15] [15] Y. S. Yoon and J. M. Mansour, “The Passive Elastic Moment at the Hip,” Journal of Biomechanics, Vo.15, No.12, pp. 905-910, 1982.