Walking of Biped Robot with Variable Stiffness at the Ankle Joint
- Resource Type
- Conference
- Authors
- Bi, Qing; Liu, Yixiang; Zang, Xizhe; Song, Rui; Wang, Haibin; Li, Weimin
- Source
- 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2019 IEEE International Conference on. :1899-1903 Dec, 2019
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Legged locomotion
Conferences
Biomimetics
Stability analysis
Energy efficiency
PD control
Impedance
Biped robot
walking control
variable stiffness
impedance control
- Language
Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.