3D bipedal robot with tunable leg compliance mechanism for multi-modal locomotion

It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walking, jumping and running by single robot. This paper describes a design of bipedal robot and feed forward controller that realize multi-modal locomotion by tuning appropriate leg compliance on individual locomotion. In order to tune physical leg compliance, we adopt rotational joints driven by antagonistic McKibben pneumatic muscles. Experimental results show that proper leg compliance provided by joint compliance and leg posture achieves a walking from standing and a sequential jumping. These results suggest that tunable leg compliance is powerful mechanism for bipedal robot to provide human-like multi-modal locomotion.