Torque-stiffness-controlled dynamic walking with central pattern generators.

Abstract:

:Walking behavior is modulated by controlling joint torques in most existing passivity-based bipeds. Controlled Passive Walking with adaptable stiffness exhibits controllable natural motions and energy efficient gaits. In this paper, we propose torque-stiffness-controlled dynamic bipedal walking, which extends the concept of Controlled Passive Walking by introducing structured control parameters and a bio-inspired control method with central pattern generators. The proposed walking paradigm is beneficial in clarifying the respective effects of the external actuation and the internal natural dynamics. We present a seven-link biped model to validate the presented walking. Effects of joint torque and joint stiffness on gait selection, walking performance and walking pattern transitions are studied in simulations. The work in this paper develops a new solution of motion control of bipedal robots with adaptable stiffness and provides insights of efficient and sophisticated walking gaits of humans.

journal_name

Biol Cybern

journal_title

Biological cybernetics

authors

Huang Y,Vanderborght B,Van Ham R,Wang Q

doi

10.1007/s00422-014-0625-3

subject

Has Abstract

pub_date

2014-12-01 00:00:00

pages

803-23

issue

6

eissn

0340-1200

issn

1432-0770

journal_volume

108

pub_type

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