ADAPTIVE CONTROL OF A BIPED WALKING MODEL

This paper presents an adaptive two-level control strategy for a biped walking model that inherits a push off that resembles considerably to forceful extension of the trailing leg during push off in human locomotion. Performance of the proposed control strategy was tested in a wide range of walking modes with considerably diverse model and control parameter settings. Extensive simulations have shown that applying such control strategy in a biped walking model allows evolution of distinctive walking modes at selected gait and control parameters.