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- W3021895090 abstract "Background Biped robot locomotion is an active topic of research, and the walking stability is one of the research objectives. Objective This paper discusses the variable stiffness ankle joint and the walking control of a biped robot. Methods A design is introduced that achieves the ankle joint variable stiffness by using a pneumatic unit. The actuation system of the biped robot is based on the hybrid use of electric and pneumatic. The locomotion control architecture has been proposed to exploit natural leg dynamics in order to improve the biped robot walking stability. We also present a dynamic simulation which matches the biped robot and experiments with the real biped robot. Results The simulation and experiments result that introducing the variable stiffness ankle joint and the controller achieve a significant improvement in foot-ground impact and walking stability of the biped robot. Conclusion The biped robot with variable stiffness ankle joints has a better walking performance under the control method." @default.
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- W3021895090 date "2020-06-04" @default.
- W3021895090 modified "2023-10-16" @default.
- W3021895090 title "Analysis and control of biped robot with variable stiffness ankle joints" @default.
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- W3021895090 doi "https://doi.org/10.3233/thc-209046" @default.
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