High-precision Kicking Force Control Based on Joint Torque Feedback of Leg Robot with Bi-articular Muscle

To realize dynamic walking, it is important to generate a kicking force in the direction connecting the waist position and the foot tip in the kicking-out period. In this research, a leg robot with a bi-articular muscle is able to generate a kicking force in this direction by using one motor to simulate the bi-articular muscle. Moreover, to realize dynamic walking with the robot that is considered in this research, it is necessary to control the exact kicking force within 0.2s. Furthermore, joint torque has to respond to the command value in the bandwidth of 30rad/s. Therefore, the kicking-out force is controlled indirectly by controlling the torque of the hip joint such that it satisfied 30rad/s by using the bi-articular muscle.