Bipedal walking gait with variable stiffness knees

Wesley  Roozing; Raffaella Carloni

doi:10.1109/BIOROB.2014.6913899

Bipedal walking gait with variable stiffness knees

Wesley Roozing
, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

14 Downloads (Pure)

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 language	English
Title of host publication	5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Publisher	IEEE
Pages	924-930
Number of pages	7
ISBN (Electronic)	978-1-4799-3128-6
ISBN (Print)	978-1-4799-3126-2
DOIs	https://doi.org/10.1109/BIOROB.2014.6913899
Publication status	Published - Aug 2014
Event	5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014 Conference number: 5

Conference

Conference	5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
Abbreviated title	BioRob
Country/Territory	Brazil
City	Sao Paulo
Period	12/08/14 → 15/08/14

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10.1109/BIOROB.2014.6913899

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title = "Bipedal walking gait with variable stiffness knees",

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.",

author = "Wesley Roozing and Raffaella Carloni",

note = "10.1109/BIOROB.2014.6913899 ; 5th IEEE RAS \& EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, BioRob ; Conference date: 12-08-2014 Through 15-08-2014",

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doi = "10.1109/BIOROB.2014.6913899",

language = "English",

isbn = "978-1-4799-3126-2",

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address = "United States",

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AU - Roozing, Wesley

AU - Carloni, Raffaella

N1 - Conference code: 5

PY - 2014/8

Y1 - 2014/8

N2 - 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.

AB - 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.

U2 - 10.1109/BIOROB.2014.6913899

DO - 10.1109/BIOROB.2014.6913899

M3 - Conference contribution

SN - 978-1-4799-3126-2

SP - 924

EP - 930

BT - 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

PB - IEEE

T2 - 5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014

Y2 - 12 August 2014 through 15 August 2014

ER -

Bipedal walking gait with variable stiffness knees

Abstract

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