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Erschienen in: Intelligent Service Robotics 3/2018

15.03.2018 | Original Research Paper

Variable stiffness control of series elastic actuated biped locomotion

verfasst von: Jianwen Luo, Shuguo Wang, Ye Zhao, Yili Fu

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2018

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Abstract

This study investigates the problem of dynamic walking impact on a biped robot. Two online variable stiffness control algorithms, i.e., torque balance algorithm (TBA) and surface fitting algorithm (SFA), are proposed based on virtual spring leg to achieve compliant performance. These two algorithms target on solving the high nonlinearity commonly existing in legged robot actuators. A planar biped robot experiment platform is designed for testing the proposed variable stiffness control. The experiments compare the performance of TBA and SFA and verify that applying the variable stiffness control of a virtual spring leg is capable of effectively absorbing unforeseen ground impacts and thus improving stability and safety of walking biped robots.

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Metadaten
Titel
Variable stiffness control of series elastic actuated biped locomotion
verfasst von
Jianwen Luo
Shuguo Wang
Ye Zhao
Yili Fu
Publikationsdatum
15.03.2018
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 3/2018
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-018-0248-y

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