Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda - PowerPoint PPT Presentation

Oct 05, 2022 •148 likes •476 views

Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda Osaka University The aim Key Technology McKibben artificial muscles are powerful cheap and easy to produce compliant The Premise Muscular-skeleton structure is the key for

Bipedal Locomotion by Pneumatic Artificial Muscles Koh Hosoda Osaka University
The aim
Key Technology McKibben artificial muscles are powerful cheap and easy to produce compliant
The Premise Muscular-skeleton structure is the key for dynamic locomotion.
Antagonism=Tunable Compliance
Idea Not to Control Precisely! Simple and Less Control Let Dynamics Do Task Start Small Gradually Increase Complexity
Robots
Walking
空脚 (Que-Kaku): 2D limit cycle walker 2003 ‐ 2005
空脚 (Que-Kaku): 2D limit cycle walker 2003 ‐ 2005 Adding muscles to Passive Dynamic Walker Simple control: swing after touch
Pneu-man: 3D limit cycle walker 2004 ‐ 2005
Pneu-man: 3D limit cycle walker 2004 ‐ 2005 Removing outer legs Simple control: swing after touch
Pneumat-BT: 3D limit cycle walker w/ torso 2006
Pneumat-BT: 3D limit cycle walker w/ torso 2006 Adding a torso to Pneu-man Changing ankle angles Simple control: swing after touch
Peumat-BB: 2D walker (reprise) 2011
Peumat-BB: 2D walker (reprise) 2011 We will see this on Friday! @ “Anthropomorphic Design and Bionic Control” 11:40-12:00
Jumping and Running
空脚 (Que-Kaku) R: 2D jumper/runner 2005 ‐ 2007
空脚 (Que-Kaku) R: 2D jumper/runner 2005 ‐ 2007
空脚 (Que-Kaku) R: 2D jumper/runner 2005 ‐ 2007 Program valve operations by hand Jumping motion after touch No balancing control
空脚 (Que-Kaku) K: Monopod 2007 ‐ 2009 w/ bi-articular muscles
空脚 (Que-Kaku) K: Monopod 2007 ‐ 2009 w/ bi-articular muscles
空脚 (Que-Kaku) K: Monopod 2007 ‐ 2009 w/ bi-articular muscles Bi-articular Muscles for Joint coordination Simple control wo/balance
Pneumat-BR: 3D biped walker/jumper
Pneumat-BR: 3D biped walker/jumper
Pneumat-BS: Whole Body Humanoid
Pneumat-BS: Whole Body Humanoid
Pneumat-BS: Whole Body Humanoid
Pneumat-BS: Whole Body Humanoid
No Conclusion Yet?
We are the Laboratory.

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