Name
Abstract | ||
|---|---|---|
In this work, we propose a hybrid model for a bipedal walker with controlled variable leg stiffness, and a control strategy for stable gait control. The control reference is a passive gait of the limit-case bipedal spring-loaded inverted pendulum model with massless feet, ensuring that the gait is close to the ideal passive gait and thus aiming for energy efficiency. The effectiveness of the controller is demonstrated with numerical simulation results. From the results a theoretical cost of transport is calculated, showing that the control strategy is indeed energy efficient. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631388 | Robotics and Automation |
Keywords | Field | DocType |
energy conservation,legged locomotion,numerical analysis,springs (mechanical),bipedal walker,control reference,control strategy,controlled variable leg stiffness,energy efficiency,energy-efficient bipedal walking,hybrid model,limit-case bipedal spring-loaded inverted pendulum model,massless feet,numerical simulation,passive gait,stable gait control | Control theory,Inverted pendulum,Energy conservation,Gait,Computer simulation,Efficient energy use,Control theory,Simulation,Effect of gait parameters on energetic cost,Control engineering,Control variable,Engineering | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-4673-5641-1 | 3 | 0.55 |
References | Authors | |
3 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ludo C. Visser | 1 | 120 | 10.41 |
| Stefano Stramigioli | 2 | 863 | 111.80 |
| Raffaella Carloni | 3 | 220 | 21.13 |