**Muscle‐Like Compliance in Knee Articulations Improves Biped Robot Walkings**

Hayssan Serhan and Patrick Henaff

Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/63746

### **Abstract**

This chapter focuses on the compliance effect of dynamic humanoid robot walking. This compliance is generated with an articular muscle emulator system, which is designed using two neural networks (NNs). One NN models a muscle and a second learns to tune the proportional integral derivative (PID) of the articulation DC motor, allowing it to behave analogously to the muscle model. Muscle emulators are implemented in the knees of a three‐dimensional (3D) simulated biped robot. The simulation results show that the muscle emulator creates compliance in articulations and that the dynamic walk, even in walk‐halt‐stop transitions, improves. If an external thrust unbalances the biped during the walk, the muscle emulator improves the control and prevents the robot from falling. The total power consumption is significantly reduced, and the articular trajectories approach human trajectories.

**Keywords:** humanoids, articular compliance, muscle modeling, neural networks, bi‐ ped walking
