Dynamic leg function of the BioBiped humanoid robot

摘要

Abstract: This contribution presents the concept and design of the first robot of the BioBiped series, aiming to transfer biomechanical insights regarding the mechanics and control of human walking and running to bipedal robot design and actuation. These are supported by preliminary experiments with the robot, where synchronous and alternate hopping motions could be successfully realized. This demonstrates that the robot design has the potential to develop dynamic gait patterns such as walking and running.