This paper deals with the design of a pneumatic binary actuation for a leg mechanism. The use of penumatic binary actuators for a leg mechanism of walking robots is aimed to avoid the complexity of continuous actuation by using a simple logic control likewise for several automated systems of industrial environment. Although a finite number of leg mechanism configurations can be obtained only, we propose a pneumatic actuation system, which gives good performances in terms of walking capabilities. Different steps can be performed in order to walk and climb stairs. Low-cost system and easy control have been obtained.
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