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Control strategy for variable gait using variable knee stiffness in a bipedal robot model

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Figure

Fig. 1.The SLIP model consists of a hip point massshown during double-support phase, with both legs touching the ground atcontact points m, with two masslesstelescopic springs with stiffnesses k1 = k2 = k0 as legs
Fig. 9.Hip height and forward velocity over time. The vertical hipmotion converges to the new reference within one step
Fig. 12.Hip trajectories for a single step of two gaits with (α0, k˜) =(64, 11) and (70, 20) respectively
Fig. 14. Hip height and forward velocity over time. The vertical hip motionand forward velocity converge to the new gait in approximately 3 steps.
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