In the introduction some reasons for using passive compliant actuators for bipedal locomotion were given. It seemed that by exploiting the natural dynamics of the system the energy consumption can be reduced. For passive walkers the mechanics are tuned so the motion is within the natural dynamics and the robot is able to walk down a slope without actuation. The only power source is gravity by means of the sloped surface to overcome friction and impact losses.
KeywordsSwing Motion Optimal Compliance Optimal Stiffness Pneumatic Muscle Sinusoidal Trajectory
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