IEEE Robotics & Automation Magazine - March 2016 - 71

Torque-StiffnessControlled
Dynamic Walking
Analysis of the Behaviors of Bipeds
with Both Adaptable Joint Torque and Joint Stiffness

By Yan Huang and Qining Wang

T

©istockphoto.com/estt

his article presents a general paradigm, torquestiffness-controlled dynamic walking, to analyze
the behaviors of bipeds with both adaptable joint
torque and joint stiffness. A bioinspired control
method with central pattern generators (CPGs)
is applied to realize limb coordination and smooth walking
pattern transitions. To better illustrate the proposed paradigm, we show the respective effects of joint torque and
joint stiffness on walking performance and motion control
in both a four-link simulated model and a robot prototype.
This study may develop a new solution for the motion control of bipedal robots with adaptable joint stiffness and provide insights into the principles of efficient and adaptive
human walking.

Digital Object Identifier 10.1109/MRA.2015.2510753
Date of publication: 8 March 2016

1070-9932/16©2016IEEE

Bipedal Robots
In recent years, increasing efforts have been devoted to bipedal locomotion, which is a multidisciplinary issue associated
with robotics, biology, neuroscience, and control theory. Exploration on the principles of the graceful and adaptive movements of humans contributes to improving the motion ability
of walking machines. In addition, developing bipedal robots
with human-like actuation patterns can provide insights into
human locomotion principles [1]-[3].
The state-of-the-art bipedal robots can be divided into two
broad classes, ones that pursue versatility and ones that pursue energy efficiency, based on trajectory control methods
and passive walking approaches, respectively [2]. To further
improve the motion ability of the bipedal robots toward robustness, adaptability, and agility, as exhibited in human walking, many researchers addressed the merger between the
trajectory control and the passive-based methods [2].
Controllable stiffness (or adaptable compliance) has proven to be important in the combination of the two classes
marcH 2016

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71



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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2016

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