Wire-Driven Bipedal Robot

摘要

In this paper, a novel mechanical structure and original control architecture for a wire-driven bipedal robot are introduced. Whereas conventional direct motor driven bipedal robots are bulky and consume a lot of power, the world's first wire-driven bipedal humanoid robot introduced in this paper is lightweight, flexible, and power efficient. This architecture is accomplished via an innovative arrangement of actuators that reflects human muscle concentrations. Furthermore, this design reduces the risk of injury, making it safer for human interaction