Chapter 75 — Biologically Inspired Robotics

JenaWalker - Biped robot with biologically-inspired, bi-articular springs

This video presents dynamic locomotion of a passivity-based, biped robot which contains biologically inspired bi-articular springs. The platform was developed for the purpose of understanding the roles of diverse muscle groups in human legs. A set of mechanical tension springs was incorporated to simulate muscles including bi-articular muscles which span two joints.
Fumiya Iida, Auke Ijspeertb
Andre Seyfarth, Locomotion Laboratory, Technical University Darmstadt