Torque-Stiffness-Controlled Dynamic Walking

2 State of the Art Previous studies indicated that introducing adaptable compliance to dynamic walking is beneficial to modulating walking performance and extending the versatility [1-3]. However, in most of these studies, the stiffness is changed off-line. The transition of different walking patterns in real time was not investigated. Our previous study [4] has demonstrated walking pattern transition with adjustable joint stiffness based on the concept of Controlled Passive Walking [5]. Nevertheless, it was a relatively preliminary validation without a systematic control method. The independently effects of joint torque and joint stiffness were not studied.