Parallel Compliance Design for Increasing Robustness and Efficiency in Legged Locomotion—Proof of Concept

摘要: Benefiting from serial compliance in series elastic actuators can be considered as a breakthrough robotics. Recently, applying the parallel robot designs is growing based on its advantages such reduction consumed torques. In this paper, we aim at employing to increase walking robustness of bipedal robots against model uncertainties. Utilizing passive compliant elements instead adapting controller order cope with uncertainties makes system more efficient and less sensitive measurement issues delays noise. We introduce methodology for designing both using hybrid zero dynamics concept. This study includes simulation results representing design approach preliminary experiments effects efficiency joint position control. The simulations comprise compass gait (2-link) 5-link model. ground slope segment lengths are uncertain parameters first second models, respectively. control target met by insertion structures actuators. employ proposed method real robot, suggest pneumatic air muscles elements. Pilot knee BioBiped3 support feasibility suggested method.