Biarticular legged robot: Design and experiments

In the paper we describe the design process of a biarticular legged robotic system inspired by the anatomic properties or the human body and report the vertical jump experiments performed by the hardware prototype of the robot. We describe the starting points and the requirements that follow from the biomechanical properties of the human leg. Then we describe the CAD model of the robot and the construction of the real robotic system. Afterwards we show in detail the development of the dynamic model needed for simulation of the jump and for the control of the real robot. The vertical jump experiments are presented and analyzed in the last section.