R&D of a Coupled Tendon-Driven Bipedal Robot

Robotics

We applied coupled tendon-driven mechanisms to legged robots and developed a bipedal robot combining robustness and compliance, including a life-size humanoid leg robot, gravity compensation mechanisms, and joint-trajectory optimization exploiting redundant degrees of freedom.

Status: Merged into the Anthropomimetic Foot and Leg project.

Coupled Tendon-Driven Bipedal Robot

2019 – 2025

Overview

We developed a bipedal robot whose legs use coupled tendon-driven mechanisms. Gravity compensation mechanisms reduce the actuation load, aiming at legged robots that are both robust and compliant.

Technical Features

Lightweight, high-output leg mechanism using coupled tendon drives
Gravity compensation mechanisms for the ankle and knee joints
Development using both a simulator and physical robots

Specifications

Actuation: coupled tendon drive
Mechanism: gravity compensation at the ankle and knee
Environment: physical robot + walking simulator

Results

Developed a gravity compensation mechanism for the ankle joint

Developed a gravity compensation mechanism for the knee joint

Generated walking motions in simulation