Model-based velocity control for Limit Cycle Walking

The aim of this study is to increase the versatility of Limit Cycle Walking (LCW) robots by proposing several ideas to control their velocity. The velocity control methods presented are to be used with Computed-Torque Control (CTC). This controller utilizes a passive reference model walking down a gentle slope which provides the reference trajectory to follow. The controllers were tested on a rigid body simulator. The results show that the methods based on scaling the amplitude (step length) of the reference trajectory and changing the reference slope angle, provide an energy efficient and stable way to control the walking speed. Both of these methods also provide continuous trajectories to standing pose and running gait.