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ORIGINAL RESEARCH article

Front. Robot. AI
Sec. Bio-Inspired Robotics
Volume 11 - 2024 | doi: 10.3389/frobt.2024.1449721
This article is part of the Research Topic Bio-Inspired Soft Artificial Muscle-Driven Robots and Applications View all articles

Controller Design and Experimental Validation of Walking for a Musculoskeletal Bipedal Lower Limb Robot Based on the Spring-Loaded Inverted Pendulum Model

Provisionally accepted
Li Yiqi Li Yiqi 1*Jiang Yelin Jiang Yelin 1Koh Hosoda Koh Hosoda 2
  • 1 Graduate School of Engineering Science, Osaka University, Suita, Japan
  • 2 Kyoto University, Kyoto, Kyōto, Japan

The final, formatted version of the article will be published soon.

    In the study of PAM-driven bipedal robots, it is essential to investigate whether the intrinsic properties of the McKibben-type pneumatic artificial muscle (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 springloaded inverted pendulum (SLIP) model. The robot features low leg inertia and concentrated mass near the hip joint. However, it's 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 issue, based on the characteristics of the developed robot, a PAM controller designed also based on the SLIP model is developed in this study. This model-based controller regulates ankle flexion PAM to adjust the direction of the ground reaction force during robot walking motion. The results indicate that the proposed controller effectively directs the leg ground reaction force towards the center of mass during walking.

    Keywords: McKibben-type pneumatic artificial muscle (PAM), Musculoskeletal Biped Robot, spring-loaded inverted pendulum model, PAM model identification, model-based PAM driven controller, robot walking experiment, Ground reaction force

    Received: 16 Jun 2024; Accepted: 28 Aug 2024.

    Copyright: © 2024 Yiqi, Yelin and Hosoda. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence: Li Yiqi, Graduate School of Engineering Science, Osaka University, Suita, Japan

    Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.