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

L.C. Visser; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/ICRA.2013.6631388

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 proceeding › Conference contribution › Academic › peer-review

19 Citations (Scopus)

2 Downloads (Pure)

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 language	Undefined
Title of host publication	Proceedings of the International Conference on Robotics and Automation
Place of Publication	USA
Publisher	IEEE
Pages	5644-5649
Number of pages	6
ISBN (Print)	978-1-4673-5642-8
DOIs	https://doi.org/10.1109/ICRA.2013.6631388
Publication status	Published - May 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Abbreviated title	ICRA
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

Keywords

EWI-23576
METIS-297774
IR-86983

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ICRA.2013.6631388

http://eprints.eemcs.utwente.nl/secure2/23576/01/1003.pdf

Cite this

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title = "Control strategy for energy-efficient bipedal walking with variable leg stiffness",

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.",

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Visser, LC, Stramigioli, S & Carloni, R 2013, Control strategy for energy-efficient bipedal walking with variable leg stiffness. in Proceedings of the International Conference on Robotics and Automation. IEEE, USA, pp. 5644-5649, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6631388

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AU - Stramigioli, Stefano

AU - Carloni, Raffaella

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N2 - 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.

AB - 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.

KW - EWI-23576

KW - METIS-297774

KW - IR-86983

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M3 - Conference contribution

SN - 978-1-4673-5642-8

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BT - Proceedings of the International Conference on Robotics and Automation

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