Robust Bipedal Walking with Variable Leg Stiffness

L.C. Visser; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/BioRob.2012.6290284

Robust 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

43 Citations (Scopus)

14 Downloads (Pure)

Abstract

The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different gaits and to overcome disturbances. In particular, we present a control strategy that uses the variable leg stiffness to stabilize the walker to a desired gait, with minimal influence on the natural gait dynamics. Using numerical simulations, it is shown that the proposed control strategy significantly improves the robustness of the walker to external disturbances.

Original language	English
Title of host publication	4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Place of Publication	USA
Publisher	IEEE
Pages	1626-1631
Number of pages	6
ISBN (Print)	978-1-4577-1198-5
DOIs	https://doi.org/10.1109/BioRob.2012.6290284
Publication status	Published - Jun 2012
Event	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4

Conference

Conference	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated title	BioRob
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

Keywords

METIS-287915
IR-81382
EWI-22023
EC Grant Agreement nr.: FP7/231554
variable stiffness actuation
Bipedal robotic locomotion

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10.1109/BioRob.2012.6290284

http://eprints.eemcs.utwente.nl/secure2/22023/01/Visser_-_Robust_bipedal_walking_with_variable_leg_stiffness.pdf

Cite this

@inproceedings{57f198b5c3c24f6c8ae59e5daa801341,

title = "Robust Bipedal Walking with Variable Leg Stiffness",

abstract = "The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different gaits and to overcome disturbances. In particular, we present a control strategy that uses the variable leg stiffness to stabilize the walker to a desired gait, with minimal influence on the natural gait dynamics. Using numerical simulations, it is shown that the proposed control strategy significantly improves the robustness of the walker to external disturbances.",

keywords = "METIS-287915, IR-81382, EWI-22023, EC Grant Agreement nr.: FP7/231554, variable stiffness actuation, Bipedal robotic locomotion",

author = "L.C. Visser and Stefano Stramigioli and Raffaella Carloni",

year = "2012",

month = jun,

doi = "10.1109/BioRob.2012.6290284",

language = "English",

isbn = "978-1-4577-1198-5",

pages = "1626--1631",

booktitle = "4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012",

publisher = "IEEE",

address = "United States",

note = "4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, BioRob ; Conference date: 24-06-2012 Through 27-06-2012",

}

Visser, LC, Stramigioli, S & Carloni, R 2012, Robust Bipedal Walking with Variable Leg Stiffness. in 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012. IEEE, USA, pp. 1626-1631, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290284

TY - GEN

T1 - Robust Bipedal Walking with Variable Leg Stiffness

AU - Visser, L.C.

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

N1 - Conference code: 4

PY - 2012/6

Y1 - 2012/6

N2 - The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different gaits and to overcome disturbances. In particular, we present a control strategy that uses the variable leg stiffness to stabilize the walker to a desired gait, with minimal influence on the natural gait dynamics. Using numerical simulations, it is shown that the proposed control strategy significantly improves the robustness of the walker to external disturbances.

AB - The bipedal spring-mass model embodies important characteristics of human walking, and therefore serves as an important starting point in studying human-like walking for robots. In this paper, we propose to extend the bipedal spring-mass model with variable leg stiffness and exploit the potential of this model in order to mimic the human capability to continuously adapt the leg stiffness to different gaits and to overcome disturbances. In particular, we present a control strategy that uses the variable leg stiffness to stabilize the walker to a desired gait, with minimal influence on the natural gait dynamics. Using numerical simulations, it is shown that the proposed control strategy significantly improves the robustness of the walker to external disturbances.

KW - METIS-287915

KW - IR-81382

KW - EWI-22023

KW - EC Grant Agreement nr.: FP7/231554

KW - variable stiffness actuation

KW - Bipedal robotic locomotion

U2 - 10.1109/BioRob.2012.6290284

DO - 10.1109/BioRob.2012.6290284

M3 - Conference contribution

SN - 978-1-4577-1198-5

SP - 1626

EP - 1631

BT - 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012

PB - IEEE

CY - USA

T2 - 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012

Y2 - 24 June 2012 through 27 June 2012

ER -

Robust Bipedal Walking with Variable Leg Stiffness

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Keywords

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