Control strategy for energy-efficient bipedal walking with variable leg stiffness

L.C. Visser, Stefano Stramigioli, Raffaella Carloni

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

    12 Citations (Scopus)

    Abstract

    In this work, we propose a hybrid model for a bipedal walker with controlled variable leg stiffness, and a control strategy for stable gait control. The control reference is a passive gait of the limit-case bipedal spring-loaded inverted pendulum model with massless feet, ensuring that the gait is close to the ideal passive gait and thus aiming for energy efficiency. The effectiveness of the controller is demonstrated with numerical simulation results. From the results a theoretical cost of transport is calculated, showing that the control strategy is indeed energy efficient.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5644-5649
    Number of pages6
    ISBN (Print)978-1-4673-5642-8
    DOIs
    Publication statusPublished - May 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA
    CountryGermany
    CityKarlsruhe
    Period6/05/1310/05/13

    Keywords

    • EWI-23576
    • METIS-297774
    • IR-86983

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