Abstract
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.
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Huang, Y., Gao, Y., Chen, B., Wang, Q., Wang, L. (2014). Adding Adaptable Stiffness Joints to CPG-Based Dynamic Bipedal Walking Generates Human-Like Gaits. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_49
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DOI: https://doi.org/10.1007/978-3-319-05582-4_49
Publisher Name: Springer, Cham
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