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

页码：924 / 930

页数：7

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