Variable bipedal walking gait with variable leg stiffness

L.C. Visser, Raffaella Carloni, Wesley Roozing

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

    2 Citations (Scopus)

    Abstract

    The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human walking, and therefore has been the starting point for studies on robust, energy-efficient walking for robots. In this paper, the problem of gait variation during walking on the SLIP model is addressed by controlling the leg stiffness and the angle-of-attack in order to switch between gaits and thus regulate walking speeds. We show that it is possible to uniquely describe SLIP limit cycle gaits in fully normalised form. Using that description, we propose both an instantaneous switching method and an interpolation method with an optimisation step to switch between limit cycle SLIP gaits. Using simulations, we show that it is then possible to transition between them, after which the system converges back to zero-input limit cycle walking.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages931-938
    Number of pages8
    ISBN (Print)978-1-4799-3126-2
    DOIs
    Publication statusPublished - Aug 2014
    Event5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Palacio das Convenções Anhembi, Sao Paulo, Brazil
    Duration: 12 Aug 201415 Aug 2014
    Conference number: 5

    Publication series

    Name
    ISSN (Print)2155-1774
    ISSN (Electronic)2155-1782

    Conference

    Conference5th IEEE RAS & EMBS Interantional Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
    Abbreviated titleBioRob
    CountryBrazil
    CitySao Paulo
    Period12/08/1415/08/14

    Keywords

    • METIS-306048
    • EWI-25122

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