仿人型机器人腿的探讨

提出一种用气动人工肌肉驱动的仿人型机器人腿。首先描述了气动人工肌肉的结构与工作原理，人工肌肉具有变刚度特性，它的刚度可通过控制橡胶管内的气压实现，调节管内气压的大小就可改变肌肉的刚度。它的刚度大小决定肌肉的驱动力。然后提出了用气动人工肌肉驱动的机器人腿的结构形式以及机器人腿的摆动控制方式，腿的驱动力和行走运动全由工控机控制实现。

Approach to humanoid robotic legs

This paper presents the humanoid robotic leg that is driven by a pneumatic artificial muscle. The structure and principle of the pneumatic artificial muscle are described in this paper. This muscle has properties of variable passive stiffness, which is realized by controlling the supply pneumatic pressure in a rubber tube. The pneumatic pressure change in the rubber tube can change the muscle stiffness that determines the driving force of muscle. The paper presents the structure forms and oscillating control method of the humanoid robotic legs that is driven by a pneumatic artificial muscles. The driving force of muscles and walking operation of the legs are controlled by one industrial personal computer.