Abstract
This study investigates local stability of a four-link limit cycle walking biped with flat feet and compliant ankle joints. Local stability represents the behavior along the solution trajectory between Poincare sections, which can provide detailed information about the evolution of disturbances. The effects of ankle stiffness and foot structure on local stability are studied. In addition, we apply a control strategy based on local stability analysis to the limit cycle walker. Control is applied only in the phases with poor local stability. Simulation results show that the energy consumption is reduced without sacrificing disturbance rejection ability. This study may be helpful in motion control of limit cycle bipedal walking robots with flat feet and ankle stiffness and understanding of human walking principles.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Nos. 62073038 and 51922015) and also supported by the Beijing Institute of Technology Research Funds for High-Level Talents.
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Y.H. and Q.W. wrote the main manuscript text. Y.H. and Y.G. prepared the simulations and experiments. Q.W. and Q.H. supervised the study. All authors reviewed the manuscript.
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Communicated by Jordi Garcia-Ojalvo.
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Huang, Y., Gao, Y., Huang, Q. et al. Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation. Biol Cybern 118, 111–126 (2024). https://doi.org/10.1007/s00422-024-00987-y
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DOI: https://doi.org/10.1007/s00422-024-00987-y