Adaptive walking of a 2D biped robot during splitbelt treadmill

摘要

There are a lot of research that measure the oxygen uptake, dynamics and kinematics, etc when human walks on the treadmill. Especially in the splitbelt treadmill walking that the speed of the right and left belt is different, a remarkable difference is seen between normal and cerebellar disease subject in kinematics. In the present paper, the splitbelt treadmill walking, which is achieved by the cyclic motion base on the inverted pendulum model and the adaptive control named P-gain adjustment, is described.