NDLI: Variable bipedal walking gait with variable leg stiffness

Content Provider	IEEE Xplore Digital Library
Author	Roozing, W. Visser, L.C. Carloni, R.
Copyright Year	2014
Description	Author affiliation: Fac. of Electr. Eng., Math., & Comput. Sci., Univ. of Twente, Enschede, Netherlands (Carloni, R.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy (Roozing, W.)
Abstract	The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human walking, and therefore has been the starting point for studies on robust, energy-efficient walking for robots. In this paper, the problem of gait variation during walking on the SLIP model is addressed by controlling the leg stiffness and the angle-of-attack in order to switch between gaits and thus regulate walking speeds. We show that it is possible to uniquely describe SLIP limit cycle gaits in fully normalised form. Using that description, we propose both an instantaneous switching method and an interpolation method with an optimisation step to switch between limit cycle SLIP gaits. Using simulations, we show that it is then possible to transition between them, after which the system converges back to zero-input limit cycle walking.
Starting Page	931
Ending Page	938
File Size	1057167
Page Count	8
File Format	PDF
ISBN	9781479931262
ISSN	21551774
e-ISBN	9781479931286
DOI	10.1109/BIOROB.2014.6913900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-12
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Optimized production technology Limit-cycles Switches Trajectory Hip
Content Type	Text
Resource Type	Article

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