Dynamic Terrain-Adaptive Gait Control for Bipedal Robots and Prosthetic Limbs Using Real-Time Threshold Velocity Adjustment

This paper presents a novel adaptive control system for bipedal robots and prosthetics, utilizing the Froude number to model the transition from walking to running. By applying standard kinematic principles and the concept of threshold velocity, we introduce a mechanism that dynamically adjusts the robot’s gait based on real-time measurements of velocity and leg length. This system employs the Froude number not as a static observational metric, but as a real-time, dynamic software trigger in a closed-loop control system. The adaptive control system is designed to optimize performance, energy efficiency, and stability during gait transitions. This innovation has applications in robotic locomotion and prosthetics, providing a new method for achieving natural, efficient transitions between walking and running.