Reproduce “Bipedal walking with continuously compliant robotic legs” on OpenResearch
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About this paper
Robin Bendfeld, C. David Remy
The authors demonstrate a planarized biped walking with continuously bending, spring-steel lower legs that serve as series-elastic elements. Rather than adding springs at rigid joints, the system models leg deformation and uses measured spring forces to control foot-ground forces. It walks at a commanded 0.15 m/s; comparison with earlier 0.2 m/s walking is across separate experiments, not a matched test.
Key insights
- Continuously compliant leg structures can effectively replace discrete series elastic actuators, serving as active elastic elements in bipedal locomotion.
- Stable bipedal walking with such complex compliant systems is achievable using simplified linear modeling and a hierarchical control approach.
- Integrating compliance directly into the robot's structure offers a pathway to fundamentally simplify actuation design and reduce overall and distal leg mass.
Summary by alphaXiv.
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