By Topic

Model-based velocity control for Limit Cycle Walking

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Haarnoja, T. ; VTT Tech. Res. Centre of Finland, Espoo, Finland ; Peralta-Cabezas, J.-L. ; Halme, A.

The aim of this study is to increase the versatility of Limit Cycle Walking (LCW) robots by proposing several ideas to control their velocity. The velocity control methods presented are to be used with Computed-Torque Control (CTC). This controller utilizes a passive reference model walking down a gentle slope which provides the reference trajectory to follow. The controllers were tested on a rigid body simulator. The results show that the methods based on scaling the amplitude (step length) of the reference trajectory and changing the reference slope angle, provide an energy efficient and stable way to control the walking speed. Both of these methods also provide continuous trajectories to standing pose and running gait.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011