Morphology and material property of a biped robot

In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a lightweight skeleton-actuation mechanism with 11 DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot comprises pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.