Towards applicable ballistic walking

摘要

Ballistic walking has been a topic of research in biomechanics and robotics several times. The main advantages of this approach are: self-organizing properties, minimal energetic expenditure, and natural movement. This would make ballistic walking a perfect physical principle for application in rehabilitation, and robotics. However a typical shortcoming of this approach is that it does not explicitly involve actuation (e.g., muscles or motors). In this work ballistic walking is extended with variable intrinsic system parameters, which can be used as an energy input and for disturbance control. With a limit cycle approach walking cycles can be synthesized and cycle controllers can be designed. Experiments with a bipedal robot and simulations illustrate the route towards more robust, and applicable ballistic walking.