Design and Control of 2D Biped that can Walk and Run with Pneumatic Artificial Muscles

We humans utilize body compliance provided by antagonistic muscles to realize dynamic locomotion such as walking, jumping, and running. In this paper, we introduce design of a biped robot driven by antagonistic pairs of artificial pneumatic muscles so that it can change joint compliance according to the desired dynamic locomotion. We then propose simple controllers for realizing walking, jumping, and running. Experimental results demonstrate that the robot can dynamically walk, jump, and run by the proposed controllers