Human-like Walking with Compliant Legs

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

Human-like Walking with Compliant Legs

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

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

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Abstract

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 language	Undefined
Title of host publication	Proceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2011)
Place of Publication	Enschede, Netherlands
Publisher	University of Twente
Pages	-
Number of pages	1
ISBN (Print)	not assigned
Publication status	Published - 8 Nov 2011
Event	4th International Workshop on Human-Friendly Robotics, HFR 2011 - University of Twente, Enschede, Netherlands Duration: 8 Nov 2011 → 9 Nov 2011 Conference number: 4

Publication series

Name
Publisher	University of Twente

Conference

Conference	4th International Workshop on Human-Friendly Robotics, HFR 2011
Abbreviated title	HFR 2011
Country/Territory	Netherlands
City	Enschede
Period	8/11/11 → 9/11/11

Keywords

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

Access to Document

Cite this

@inproceedings{54d70e72b8b74e5e801275b9ee86b470,

title = "Human-like Walking with Compliant Legs",

abstract = "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.",

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

author = "L.C. Visser and \{de Geus\}, Wouter and Stefano Stramigioli and Raffaella Carloni",

year = "2011",

month = nov,

day = "8",

language = "Undefined",

isbn = "not assigned",

publisher = "University of Twente",

pages = "--",

booktitle = "Proceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2011)",

address = "Netherlands",

note = "4th International Workshop on Human-Friendly Robotics, HFR 2011 ; Conference date: 08-11-2011 Through 09-11-2011",

}

TY - GEN

T1 - Human-like Walking with Compliant Legs

AU - Visser, L.C.

AU - de Geus, Wouter

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

N1 - Conference code: 4

PY - 2011/11/8

Y1 - 2011/11/8

N2 - 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.

AB - 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.

KW - IR-78453

KW - METIS-279692

KW - EC Grant Agreement nr.: FP7/231554

KW - EWI-20783

KW - Variable Stiffness Actuators

KW - Bipedal locomotion

M3 - Conference contribution

SN - not assigned

SP - -

BT - Proceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2011)

PB - University of Twente

CY - Enschede, Netherlands

T2 - 4th International Workshop on Human-Friendly Robotics, HFR 2011

Y2 - 8 November 2011 through 9 November 2011

ER -