Skiing Humanoid Robot, TiBo

Hybrid Actuation Biped Mobile Robot

We study the development and control of a hybrid biped robot composed of a motor system for the hip joint, and a pneumatic system for the knee joint and ankle joint. In order to ensure the mobility of the robot, development of a small pneumatic generator has been preceded, and a robot similar to the human appearance has been designed and manufactured. For bipedal walking, a control algorithm has been built based on whole body control, and research is underway to take advantage of the pneumatic system to resist changes in the surrounding environment and enable bipedal walking with high energy efficiency.