Robust Bipedal Walking with Variable Leg Stiffness

L.C. Visser, Stefano Stramigioli, Raffaella Carloni

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

    24 Citations (Scopus)

    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 languageEnglish
    Title of host publication4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1626-1631
    Number of pages6
    ISBN (Print)978-1-4577-1198-5
    DOIs
    Publication statusPublished - Jun 2012
    Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
    Duration: 24 Jun 201227 Jun 2012
    Conference number: 4

    Conference

    Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    Abbreviated titleBioRob
    CountryItaly
    CityRome
    Period24/06/1227/06/12

    Keywords

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

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