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Development of a Biped Walking Robot with Antagonistic Actuation

Takashige Yano, Jae Hoon Lee, and Shingo Okamoto
Graduate School of Science and Engineering, Ehime University, Matsuyama, Japan

Abstract—This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semi-passive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonistic actuation was realized by using motors and wires. A control algorithm utilizing the antagonism for walking motion was proposed and applied to the walking experiment by using the developed robot. The results of the walking experiment conducted using the proposed control algorithm are presented and discussed.
Index Terms—biped walking robot, antagonistic actuation, semi-passive walking, walking experiment

Cite: Takashige Yano, Jae Hoon Lee, and Shingo Okamoto, "Development of a Biped Walking Robot with Antagonistic Actuation," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 3, pp. 196-201, July 2016. DOI: 10.18178/ijmerr.5.3.196-201