Human-like Walking with Compliant Legs

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Visser, Ludo C. and Geus de, Wouter and Stramigioli, Stefano and Carloni, Raffaella (2011) Human-like Walking with Compliant Legs. In: 4th Workshop on Human-Friendly Robotics, HFR 2010, 8-9 November 2011, Enschede, The Netherlands.

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Abstract:This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible. The compliance of the springs is controllable by means of variable stiffness actuators. The controllable stiffness allows the gait to be stabilized against external disturbances.
Item Type:Conference or Workshop Item
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/78453
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Metis ID: 279692