Robust Swing Leg Placement under Large Disturbances

Abstract

Swing leg placement is vital to dynamic stability in legged robots and animals. The most common approaches to generating swing leg motions in robotics use either position or impedance tracking of defined joint trajectories. While these approaches suffice in humanoids, they severely limit swing leg placement under large disturbances in prosthetic limbs, for which stabilizing reactions cannot be planned centrally. Rather than careful central planning, animals and humans seem to rely on local feedback control for reliable swing leg placement. Motivated by this observation, we here present an alternative for generating swing leg motions. We develop a local swing leg control that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those patterns observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics.