Controller design for a bipedal walking robot using variable stiffness actuators

J.G. Ketekaar, L.C. Visser, Stefano Stramigioli, Raffaella Carloni

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

    12 Citations (Scopus)


    The (SLIP) model captures characteristic properties of human locomotion, and it is therefore often used to study human- like walking. The extended variable spring-loaded inverted pendulum (V-SLIP) model provides a control input for gait stabilization and shows robust and energy-efficient walking patterns. This work presents a control strategy that maps the conceptual V-SLIP model on a realistic model of a bipedal robot. This walker implements the variable leg compliance by means of variable stiffness actuators in the knees. The proposed controller consists of multiple levels, each level controlling the robot at a different level of abstraction. This allows the controller to control a simple dynamic structure at the top level and control the specific degrees of freedom of the robot at a lower level. The proposed controller is validated by both numeric simulations and preliminary experimental tests.
    Original languageUndefined
    Title of host publicationProceedings of the International Conference on Robotics and Automation
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4673-5642-8
    Publication statusPublished - May 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    PublisherIEEE Robotics and Automation Society


    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Abbreviated titleICRA


    • EWI-23577
    • METIS-297775
    • IR-86984

    Cite this