The design is inspired by the role of bi-articular muscles of human limbs in forceful interaction during walking, which is observed to contribute to contact force control. The structure and actuation are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles, which has advantage of improved capacity in end-effector force exertion.
Fig 1. Static analysis with an exemplar leg configuration
Updated on Jan 18, 2018