Ojiro Matsumoto

Tension Feedback Control for Musculoskeletal Quadrupedal Locomotion over Uneven Terrain

Musculoskeletal quadruped robots driven by pneumatic artificial muscles (PAMs) have great softness. Due to the softness, the proprioceptive information of PAMs (e.g. tension) reflects the environmental information. However, how to utilize this information for stable quadrupedal gait has been rarely…