Transitions of three gaits in dynamic bipedal robot with adaptable joint stiffness

In this paper, we design and construct a planar dynamic bipedal walking robot with flat feet and adaptable stiffness. We employ the MACCEPA actuator, which allows independently control of joint torque and joint stiffness. Based on a gait-phase-dependent stiffness control method, the robot can realize three gaits, distinguished by the sequence of different gait events. In experiments, the performance of the three gaits are compared and gait transitions are realized by controlling joint stiffness. This study may provide insights into motion control of dynamic bipedal robots with adaptable stiffness and the principles of gait transition in bipedal walking.