The invention discloses a
biped robot based on
pneumatic artificial muscles and relates to biped robots. The
biped robot based on the
pneumatic artificial muscles aims to solve the problems that an existing active
robot is driven through a
rigid structure, the
system structure is complicated, the flexibility is poor, and the energy efficiency of the existing active
robot is low. The
biped robot based on the
pneumatic artificial muscles comprises a left leg, a right leg and a
pelvis. The left leg and the right leg each comprise a
thigh, a shank, a foot, a hip joint, a
knee joint and an
ankle joint. The left leg and the right leg are connected through the
pelvis. The
pelvis is connected with the thighs in a rotary mode through the hip joints. The thighs are connected with the shanks in a rotary mode through the knee joints. The shanks are connected with the feet in a rotary mode through the
ankle joints. The iliac muscles, the gluteus maximus, the vastus lateralis muscles, the
biceps femoris muscles, the semitendinous muscles and the rectus femoris muscles are arranged on the thighs. The tibialis anterior muscles, the soleus muscles and the gastrocnemius muscles are arranged on the shanks. The upper ends of the iliac muscles and the upper ends of the gluteus maximus are hinged to the pelvis respectivley. The lower ends of the iliac muscles and the lower ends of the gluteus maximus are hinged to the thighs respectively. The upper ends of the vastus lateralis muscles and the upper ends of the
biceps femoris muscles are hinged to the thighs respectively. The biped
robot based on the pneumatic artificial muscles belongs to the field of humanoid robots.