DIEES Biped Robot: A bio-inspired Pneumatic Platform for Human Locomotion Analysis and Stiffness Control.

The paper describes the kinematics and kinetic properties of a ten degrees of freedom biologically inspired biped robot. The prototype realized is pneumatically actuated, and the leg size and dimensions have been designed in order to be anthropomorphic. Moreover, the control strategy has been specifically designed in order to generate a different force and position control strategy acting on the stance and the swing leg respectively. A three-level feedback loop controller allows generation of a three-dimensional trajectory for the swing leg directly referred to the operative space. Besides, a set of forces acting directly on the foot contact surface are generated during the stance phase, in order to better exploit the elasticity properties of the pneumatic actuators

[1]  Giovanni Muscato,et al.  VIRTUAL FORCES BASED LOCOMOTION STRATEGY AND ENERGY BALANCE ANALYSIS , 2006 .

[2]  Bram Vanderborght,et al.  Dynamic Control of a Bipedal Walking Robot actuated with Pneumatic Artificial Muscles , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[4]  N. Costa,et al.  Control of a Biomimetic "Soft-actuated" 10DoF Lower Body Exoskeleton , 2006, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006..

[5]  Takeo Kanade,et al.  Footstep Planning for the Honda ASIMO Humanoid , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[6]  GIOVANNI MUSCATO,et al.  A Pneumatic Human Inspired Robotic Leg: Control Architecture and kinematical Overview , 2006, Int. J. Humanoid Robotics.

[7]  Lihua Huang,et al.  On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[8]  Chee-Meng Chew,et al.  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..

[9]  G. Muscato,et al.  A multi level control architecture for a pneumatic robotic leg , 2005, 2005 IEEE Conference on Emerging Technologies and Factory Automation.

[10]  R. McNeill Alexander,et al.  Principles of Animal Locomotion , 2002 .