Remy, David (Prof. Dr.)Drama, Özge2021-07-132021-07-1320211762785781http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-115900http://elib.uni-stuttgart.de/handle/11682/11590http://dx.doi.org/10.18419/opus-11573In this dissertation, we investigate bio-inspired postural control mechanisms for bipedal running that actively use trunk oscillations to generate natural gaits. To this end, we employ a simplified template model, the spring-loaded inverted pendulum model with a trunk (TSLIP), which captures the essential characteristics of bipedal locomotion. Based on this model, we thoroughly investigate a recent bio-inspired control method called the virtual point control, which directs the ground reaction forces toward a single virtual point, and evaluate the resulting gait characteristics and energetics both in simulation and based on real-world data. We show that the virtual point control is a good candidate for achieving postural stability in running and can inspire better controllers for future legged robots and exoskeletons.eninfo:eu-repo/semantics/openAccess620doctoralThesis