Bipedal Walking Gait with Variable Stiffness Knees

被引：0
|
作者：
Roozing, Wesley [1 ,2 ]
Carloni, Raffaella [2 ]
机构：
[1] Ist Italiano Tecnol, Dept Adv Robot, Via Morego 30, I-16163 Genoa, Italy
[2] Univ Twente, Fac Elect Engn Math & Comp Sci, MIRA Inst, NL-7500 AE Enschede, Netherlands
来源：
2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB) | 2014年
关键词：
D O I：
暂无
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
The Segmented Spring-Loaded Inverted Pendulum model is analysed, and it is shown that it exhibits walking gait. We propose a control architecture that exploits control of the knee stiffness to provide robustness of the system with respect to changes in gait. This controller is extended for a realistic bipedal robot model that uses variable stiffness actuators to control the knee stiffness. The variable knee stiffness is then used to stabilise the system into a walking gait and to inject energy losses generated by friction and foot impacts.
引用
收藏
页码：924 / 930
页数：7
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