**Author details**

withstand a 30% larger force than the simulation without the emulator. In fact, the robot falls

Although the simulations with the emulator indicate that the robot can withstand a 30% larger applied force than those without the emulator, a sufficiently large sagittal plane force (ap‐ proximately 85 N for 100 ms forward or 65 N backward) cannot be counteracted, and the robot

**Figure 14.** Trunk speed of ROBIAN (in sagittal plane) and trunk position (in the frontal plane), after applying a thrust

The contribution of this chapter is to compare and analyze the effects a muscle emulator on the walking efficiency of a biped robot. The results indicate that the use of a muscle emulator in the DC motor control loops of humanoid robots provides a compliance property in articular

**•** the work required by the electric motors decreased, and the motors work less in the

**•** the equilibrium of the robot can withstand 25–30% larger external forces with the muscle

**•** the algorithm allows the robot to stand with the knees fully extended in the stop position.

when the same force is applied without the emulator.

force perpendicular to the direction of walking (frontal plane).

joints. Thus, the walking performance is improved, as follows:

**•** the muscle emulator significantly reduced the total power consumption.

**4. Conclusion**

emulator.

authorized overload zone.

falls in the direction of the force.

62 Recent Advances in Robotic Systems

Hayssan Serhan1,2 and Patrick Henaff1,2\*

\*Address all correspondence to: patrick.henaff@loria.fr

1 Faculty of Engineering I, Lebanese University, Lebanon

2 LORIA UMR 7503, University of Lorraine‐INRIA‐CNRS, Nancy, France
