Journal
ADVANCED ROBOTICS
Volume 32, Issue 4, Pages 202-214Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2018.1434015
Keywords
Pelvis structure; gluteus medius; three-dimensional biped walking; humanoid robot; McKibben pneumatic artificial muscle
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Funding
- Grants-in-Aid for Scientific Research [17J04761] Funding Source: KAKEN
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Several factors affect the performance of humanoid walking. One factor is the complex nature of lower limbs, especially the muscles around the pelvis that contribute significantly to the stability and adaptivity of humanoid locomotion. The significance of this muscle group assures a impact on the facility of walking robots once the nature of its contribution is understood, and it can be replicated on robots. To propose a mechanical structure that facilitates walking in robots, we realized a muscle by modeling its pelvis region like that of a humanoid and developing a musculoskeletal humanoid robot. Especially, we focused on the gluteus medius, which is important for the general stability against frontal movements of the hip. Furthermore, it passively changes its influence on such motions; this is helpful during the different phases of locomotion. These changes depend on the alignment of the pelvis and femur. We confirmed the viability of the robotic gluteus medius, which was simplified to a model of two partial muscles by accomplishing the walking using this robot. This accomplishment verifies our hypothesis that using this model, the supporting functionality for the locomotion of the muscle can be reproduced and enhances the biological plausibility.
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