Romansy 14 pp 463-470 | Cite as

Inverse Dynamics Power Saving Control of Walking Machines

  • Stefan Gruber
  • Werner Schiehlen
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


This work is motivated by the high power consumption of existing walking machines. The paper presents the combination of the inverse dynamics control technique with the passive walking principle for the model of an biped walking machine. For the compensation of the energy losses during walking the method of inverse dynamics control is applied which generates the walking motion according to preprogrammed nominal trajectories of legs and body. The trajectories are generated according to passive dynamic gait cycles of a passive model. The simulation results show that the power consumption for walking with this approach is very low compared to other machines.


Contact Force Multibody System Humanoid Robot Inverse Dynamic Zero Moment Point 
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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Stefan Gruber
    • 1
  • Werner Schiehlen
    • 1
  1. 1.Institute B of MechanicsUniversity of StuttgartGermany

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