Diplomarbeiten, Studienarbeiten, Praktika

Master Thesis: Stable Walking Patterns Through Simplified Models

3 July 2012


The principals behind walking and running are up to now far from being completely understood. Simple biological inspired models have been use to capture the key features of human and animal locomotion. The Spring Loaded Inverted Pendulum (SLIP) is probably the most used of such models. It allows generation of stable limit cycles with human-like contact force profiles. While many different approaches have been proposed to design feedback controllers for the SLIP model when it is used to describe running motions, not so many are known for the walking case (bipedal SLIP model).
The goal of this thesis is to summarize the established approaches for control of the SLIP model, extend them to the bipedal SLIP model, find alternative and more suited approaches directly for walking patterns and finally map the results obtained for the simple model to a more complex multi body model based on [3].
The whole work will be carried out in simulation.


[1] J. Seipel, P. Holmes - A Simple Model for Clock Actuated Legged Locomotion - Regular and Chaotic Dynamics, 2007

[2] H. Geyer, A. Seyfarth, R. Blickhan - Compliant leg behaviour explains basic dynamics of walking and running - The Royal Society, 2006

[3] G. Garofalo, C. Ott, A. Albu-Schäffer - Walking control of fully actuated robots based on the Bipedal SLIP model - ICRA, 2012


  • Knowledge of MATLAB/Simulink
  • Modeling and analysis of mechanical systems
  • Linear and nonlinear control theory


6 months (start: as soon as possible)

Gianluca Garofalo
German Aerospace Research Center

Institute of Robotics and Mechatronics
, Robotic Systems
Tel: +49 8153 28-3748

Fax: +49 8153 28-1134

E-Mail: gianluca.garofalo@dlr.de
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