Human-like Walking with Compliant Legs

L.C. Visser, Wouter de Geus, Stefano Stramigioli, Raffaella Carloni

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    This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible. The compliance of the springs is controllable by means of variable stiffness actuators. The controllable stiffness allows the gait to be stabilized against external disturbances.
    Original languageUndefined
    Title of host publicationProceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2011)
    Place of PublicationEnschede, Netherlands
    PublisherUniversity of Twente
    Number of pages1
    ISBN (Print)not assigned
    Publication statusPublished - 8 Nov 2011
    Event4th Workshop on Human-Friendly Robotics (HFR 2010), Enschede: Proceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2010) - Enschede, Netherlands
    Duration: 8 Nov 2011 → …

    Publication series

    PublisherUniversity of Twente


    Conference4th Workshop on Human-Friendly Robotics (HFR 2010), Enschede
    CityEnschede, Netherlands
    Period8/11/11 → …


    • IR-78453
    • METIS-279692
    • EC Grant Agreement nr.: FP7/231554
    • EWI-20783
    • Variable Stiffness Actuators
    • Bipedal locomotion

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