Torque-stiffness-controlled dynamic walking with central pattern generators

DOI10.1007/S00422-014-0625-3zbMath1327.70019DBLPjournals/bc/HuangVHW14OpenAlexW2045483699WikidataQ51055241 ScholiaQ51055241MaRDI QIDQ2342576

Yan Huang, Ronald van Ham, Bram Vanderborght, Qi-Ning Wang

Publication date: 29 April 2015

Published in: Biological Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00422-014-0625-3

zbMATH Keywords

velocity controlpassive dynamic walkingcentral pattern generatorsadaptable joint stiffnesscontrolled passive walkingwalking pattern transitions

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

Related Items (1)

Adding adaptable toe stiffness affects energetic efficiency and dynamic behaviors of bipedal walking

Cites Work

• Robust control of CPG-based 3D neuromusculoskeletal walking model
• Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
• Energy efficient walking with central pattern generators: From passive dynamic walking to biologically inspired control
• Passive walking towards running
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