Modeling and simulation of humanoid lower limb based on Pneumatic Artificial Muscle

This paper proposed a novel humanoid lower limb, which in driven by Pneumatic Artificial Muscle (PAM) in the form of three dimension flexible parallel system. The Structure matrix and Hessian matrix of the joint are calculated, inverse/forward position kinematics of multivariable is deduced with Newton-Raphael method and muscle characteristic in the joint is presented during lower limb gait phase through simulation. Hip joint state equation standard form of SISO nonlinear system is deduced which lay foundation for future control.