Application of Feedback Controlled Bipedal Model in Toe Walking Simulation

Abstract

This paper addresses the possibility to use feedback controlled biped walking model in toe walking simulations. We used a simple planar biped walking model with eight segments and two level control strategy that exhibits considerable robustness. The purpose of choosing feedback controlled over optimization-based biped walking model was to take advantage of the ability to generate wide spectrum of specific toe walking gait patterns by changing a selected set of control parameters. Extensive simulation experimentation has shown that by selecting and setting or changing the parameter values of reference control trajectories, the currently existing gait kinematics and kinetics changes accordingly. The most obvious benefit of such approach is to be given the opportunity to investigate and to foresee the effect of certain parameter variation on gait kinematics and kinetics.