TY - GEN
T1 - Adding adaptable stiffness joints to CPG-based dynamic bipedal walking generates human-like gaits
AU - Huang, Yan
AU - Gao, Yue
AU - Chen, Baojun
AU - Wang, Qining
AU - Wang, Long
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2014.
PY - 2014
Y1 - 2014
N2 - In this paper, we propose a seven-link passivity-based dynamic walking model, in order to further understand the principles of real human walking and provide guidance in building bipedal robots. The model includes an upper body, two thighs, two shanks, flat feet and compliant joints. A bio-inspired central pattern generator (CPG)-based control method is applied to the proposed model. In addition, we add adaptable joint stiffness to the motion control. To validate the effectiveness of the proposed bipedal walking model, we carried out simulations and human walking experiments. Experimental results indicate that human-like walking gaits with different speeds and walking pattern transitions can be realized in the proposed locomotor system.
AB - In this paper, we propose a seven-link passivity-based dynamic walking model, in order to further understand the principles of real human walking and provide guidance in building bipedal robots. The model includes an upper body, two thighs, two shanks, flat feet and compliant joints. A bio-inspired central pattern generator (CPG)-based control method is applied to the proposed model. In addition, we add adaptable joint stiffness to the motion control. To validate the effectiveness of the proposed bipedal walking model, we carried out simulations and human walking experiments. Experimental results indicate that human-like walking gaits with different speeds and walking pattern transitions can be realized in the proposed locomotor system.
KW - Passive dynamic walking
KW - adaptable stiffness joints
KW - central pattern generators
KW - walking pattern transition
KW - walking speed control
UR - https://www.scopus.com/pages/publications/84927634373
U2 - 10.1007/978-3-319-05582-4_49
DO - 10.1007/978-3-319-05582-4_49
M3 - Conference contribution
AN - SCOPUS:84927634373
T3 - Advances in Intelligent Systems and Computing
SP - 569
EP - 580
BT - Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications
A2 - Karray, Fakhri
A2 - Matson, Eric T.
A2 - Myung, Hyun
A2 - Kim, Jong-Hwan
A2 - Matson, Eric T.
A2 - Xu, Peter
PB - Springer Verlag
T2 - 2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013
Y2 - 18 December 2013 through 20 December 2013
ER -