BIPMAN dynamic impedance controller based on a biomechanical approach

This paper presents the biped robot called BIPMAN (biomechanical pneumatic man). We focus on the actuation type as close as possible to the human muscle behavior. We propose the mechanic and electronic design of BIPMAN and the main principles to control the structure. A dynamic model of the structure is proposed dividing the dynamic effects of the skeletal (as interactions between segments) to the dynamic effects of the muscles involved. An analogy with the physiological muscle is proposed. We then develop a pneumatic impedance controller design based on the mathematical model of one chain representing one limb. Finally, simulation results on the walking gait under perturbations are presented.