Abstract
The Spring-Loaded Inverted Pendulum (SLIP) model has been shown to exhibit many properties of human walking, and therefore has been the starting point for studies on robust, energy-efficient walking for robots. In this paper, the problem of gait variation during walking on the SLIP model is addressed by controlling the leg stiffness and the angle-of-attack in order to switch between gaits and thus regulate walking speeds. We show that it is possible to uniquely describe SLIP limit cycle gaits in fully normalised form. Using that description, we propose both an instantaneous switching method and an interpolation method with an optimisation step to switch between limit cycle SLIP gaits. Using simulations, we show that it is then possible to transition between them, after which the system converges back to zero-input limit cycle walking.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
