Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model.

ABSTRACT: To effectively control a robot's motion, it is common to employ a simplified model that approximates the robot's dynamics. Nevertheless, discrepancies between the actual mechanical properties of the robot and the simplified model can result in motion failures. To address this issue, this study introduces a pneumatic-driven bipedal musculoskeletal robot designed to closely match the mechanical characteristics of a simplified spring-loaded inverted pendulum (SLIP) model. The SLIP model is widely utilized in robotics due to its passive stability and dynamic properties resembling human walking patterns. A musculoskeletal bipedal robot was designed and manufactured to concentrate its center of mass within a compact body around the hip joint, featuring low leg inertia in accordance with SLIP mod

SUBMITTER: Li Y 

PROVIDER: S-EPMC10866142 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature