Control of artificial muscles of lower limb of artificial life body

This paper describes simply a method how to control air muscles of lower limes of an artificial life body (denoted ALB) developed recently (called ICHIRO), at the Artificial Life and Robotics Laboratory of Oita University, Japan, by using compressed air controllers. The number of total air muscles is 22 where 11 air muscles are arranged in each leg. The experimental data for controlling 24 air muscles of lower limes of ICHIRO from stand up position to sit down position on a chair and from the sit down position on the chair to the stand up position is shown. This paper gives the brief description of the proposed control method. Also, this paper discusses how to control the artificial muscles by comparing with human muscles activities or movement.