IDEAS home Printed from https://ideas.repec.org/h/spr/sprchp/978-3-540-79409-7_28.html
   My bibliography  Save this book chapter

Optimizing Spring-Damper Design in Human Like Walking that is Asymptotically Stable Without Feedback

In: Modeling, Simulation and Optimization of Complex Processes

Author

Listed:
  • Katja D. Mombaur

    (Universität Heidelberg, IWR)

  • Richard W. Longman

    (Columbia University, Dept. of Mechanical Engineering)

  • Hans Georg Bock

    (Universität Heidelberg, IWR)

  • Johannes P. Schiöder

    (Universität Heidelberg, IWR)

Abstract

Special purpose numerical optimal control algorithms can be used to create biped multibody systems and open loop joint torque histories that create periodic motions that are asymptotically stable without any feedback. In this context, we have produced open-loop stable biped walking, running, hopping, somersaults and flip-flops. In this paper, we specifically investigate the stabilizing role of springs and dampers added to a biped walking system by including the spring and damper constants in the stability optimization. It is shown that stability and robustness to state disturbances of the asymptotically stable open loop gaits can be very substantially increased by an optimization-based selection of spring and damper components and that springs and dampers help to induce a more natural appearing solution.

Suggested Citation

  • Katja D. Mombaur & Richard W. Longman & Hans Georg Bock & Johannes P. Schiöder, 2008. "Optimizing Spring-Damper Design in Human Like Walking that is Asymptotically Stable Without Feedback," Springer Books, in: Hans Georg Bock & Ekaterina Kostina & Hoang Xuan Phu & Rolf Rannacher (ed.), Modeling, Simulation and Optimization of Complex Processes, pages 403-418, Springer.
    • Handle: RePEc:spr:sprchp:978-3-540-79409-7_28
    DOI: 10.1007/978-3-540-79409-7_28
    as

    Download full text from publisher

    To our knowledge, this item is not available for download. To find whether it is available, there are three options:
    1. Check below whether another version of this item is available online.
    2. Check on the provider's web page whether it is in fact available.
    3. Perform a
    for a similarly titled item that would be available.

    More about this item

    Keywords

    ;
    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:spr:sprchp:978-3-540-79409-7_28. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Sonal Shukla or Springer Nature Abstracting and Indexing (email available below). General contact details of provider: http://www.springer.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.