Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole
Yun-Ho Han,Junyeon Namgung,Baek-Kyu Cho,Yun-Ho Han,Junyeon Namgung,Baek-Kyu Cho
Although many walking control frameworks have been developed to enable biped robots to walk stably on uneven terrain, the foot sole of the robot is also important. Inspired by that study, we have developed a Variable Stiffness Sole (VSS), which is able to adapt to the shape of the obstacles on the ground in Compliant Mode and provide robust support in Stiff Mode. Furthermore, we proposed a walking...
