Robust bipedal walking with variable leg stiffness
| Autor: | Raffaella Carloni, Stefano Stramigioli, L. C. Visser |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
METIS-287915
Engineering business.industry IR-81382 EWI-22023 Bipedal robotic locomotion Control engineering EC Grant Agreement nr.: FP7/231554 Gait Computer Science::Robotics Variable (computer science) variable stiffness actuation Robustness (computer science) Control theory Gait analysis Convergence (routing) Trajectory Robot Robust control business |
| Zdroj: | 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 1626-1631 STARTPAGE=1626;ENDPAGE=1631;TITLE=4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 |
| ISSN: | 1626-1631 |
| DOI: | 10.1109/biorob.2012.6290284 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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