Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion.

ABSTRACT: Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. Our leg is mounted on a boom arm and can adaptively hop on varying terrain in an energy-efficient yet agile manner. It can also detect obstacles through capacitive self-sensing. The leg performs powerful and agile gait motions beyond 5 Hz and high jumps up to 40 % of the leg height. Our leg's tunable

SUBMITTER: Buchner TJK 

PROVIDER: S-EPMC11385520 | biostudies-literature | 2024 Sep

REPOSITORIES: biostudies-literature