Bipedal walking gait with variable stiffness knees

Raffaella Carloni, Wesley Roozing

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)

    Abstract

    The Segmented Spring-Loaded Inverted Pendulum model is analysed, and it is shown that it exhibits walking gait. We propose a control architecture that exploits control of the knee stiffness to provide robustness of the system with respect to changes in gait. This controller is extended for a realistic bipedal robot model that uses variable stiffness actuators to control the knee stiffness. The variable knee stiffness is then used to stabilise the system into a walking gait and to inject energy losses generated by friction and foot impacts.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages924-930
    Number of pages7
    ISBN (Print)978-1-4799-3126-2
    DOIs
    Publication statusPublished - Aug 2014
    Event5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil
    Duration: 12 Aug 201415 Aug 2014
    Conference number: 5

    Publication series

    Name
    ISSN (Print)2155-1774
    ISSN (Electronic)2155-1782

    Conference

    Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
    Abbreviated titleBioRob
    CountryBrazil
    CitySao Paulo
    Period12/08/1415/08/14

    Keywords

    • METIS-306049
    • EWI-25123

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