A Proprioceptive, Force-Controlled, Non-Anthropomorphic Biped for Dynamic Locomotion

The performance of traditional humanoid robots is often limited by their design, with high DoF limbs and stiff actuation complicating their dynamics and impeding their ability to operate in unsupervised environments. In response to these deficiencies, this paper introduces the Non-Anthropomorphic Biped: Version 2 (NABi- V2), a bipedal robot that is a departure from the conventional humanoid paradigm in its morphology and actuation method. That is, NABi- V2 is a platform with a unique leg configuration that is designed around high torque back-drivable electric actuators that provide proprioception and force control capabilities. This paper details the concept and design of this system, and presents a simple yet robust compositional controller for performing in place, two-legged pronking, a form of continuous jumping locomotion that is typically realized with series elastic or hydraulic actuation.