By using artificial muscles in robotics one can use the analogy of the biological motor for locomotion or manipulation. There are a lot of advantages like the passive damping, good power-weight ratio and usage in rough environments. The main drawback of this muscle is that their dynamic behavior is highly nonlinear. Due to this a deep knowledge of the muscle properties and behaviors is needed to use the artificial muscle in robotics. By using the different published muscle models and our own experience we developed an advanced model for the muscle force. To validate this model a set-up like the well known quick-release test for biological muscles is used. In the future the advanced model of the fluidic muscle will help to improve the behavior of the robot PANTER and is the first step in building a biomechanical inspired two-legged robot that is able to run and walk elastically.Index Terms-Modelling, fluidic muscle, artificial muscle, biological inspired model.
Legged locomotion is a fascinating form of motion. Almost all legged robotic systems are biologically-inspired by some kind of role model. The stick insect and cockroach are two of the most popular role models in the field of six-legged walking robots. Although, their legs have at least four degrees of freedom, most robotic systems, which are biologically-inspired by these insects, come along with only three joints in each leg. In this paper we will present a new leg design with four degrees of freedom for the six-legged walking machine LAURON. This enlarges the workspace of our leg significantly compared to previous leg generations and makes it very similar to the leg of the stick insect. With the additional rotational fourth joint the kinematic structure becomes redundant. The inverse kinematics for this redundant structure is solved in a very efficient way by benefiting from the orientational redundancy.
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