Controller design and experimental validation of walking for a musculoskeletal bipedal lower limb robot based on the spring-loaded inverted pendulum model.

ABSTRACT: In the study of PAM (McKibben-type pneumatic artificial muscle)-driven bipedal robots, it is essential to investigate whether the intrinsic properties of the PAM contribute to achieving stable robot motion. Furthermore, it is crucial to determine if this contribution can be achieved through the interaction between the robot's mechanical structure and the PAM. In previous research, a PAM-driven bipedal musculoskeletal robot was designed based on the principles of the spring-loaded inverted pendulum (SLIP) model. The robot features low leg inertia and concentrated mass near the hip joint. However, it is important to note that for this robot, only the design principles were based on the SLIP model, and no specialized controller was specifically designed based on the model. To address this iss

SUBMITTER: Li Y 

PROVIDER: S-EPMC11574207 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature