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 Cybernjournal_title
Biological cyberneticsauthors
Huang Y,Vanderborght B,Van Ham R,Wang Qdoi
10.1007/s00422-014-0625-3subject
Has Abstractpub_date
2014-12-01 00:00:00pages
803-23issue
6eissn
0340-1200issn
1432-0770journal_volume
108pub_type
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journal_title:Biological cybernetics
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