Fast walking with rhythmic sway of torso in a 2D passive ankle walker

Bao, Ruizhi and Geng, Tao ORCID logoORCID: (2018) Fast walking with rhythmic sway of torso in a 2D passive ankle walker. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 01-05 Oct 2018, Madrid, Spain. e-ISBN 9781538680940, pbk-ISBN 9781538680957. ISSN 2153-0858 [Conference or Workshop Item] (doi:10.1109/IROS.2018.8593665)

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There is a category of biped robots that are equipped with passive or un-actuated ankles, which we call Passive-Ankle Walkers (PAWs). Lack of actuation at ankles is a disadvantage in the fast walking of PAWs. We started this study with an intuitive hypothesis that rhythmic sway of torso may enable faster walking in PAWs. To test this hypothesis, firstly, we optimized the rhythmic sway of torso of a simulated PAW model for fast walking speed, and analyzed the robustness of the optimal trajectories. Then we implemented the optimal trajectories on a real robot. Both the simulation analysis and the experimental results indicated that optimized torso-swaying can greatly increase the walking speed by 40%. By analyzing the walking patterns of the simulated model and the real robot, we identified the reason for the faster walking with swaying-torso: The rhythmic sway of torso enables the robot to walk with a relatively large step-length while still keeninu a hizh sten-frenuencv.

Item Type: Conference or Workshop Item (Paper)
Research Areas: A. > School of Science and Technology
Item ID: 26789
Notes on copyright: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Depositing User: Tao Geng
Date Deposited: 13 Jun 2019 07:59
Last Modified: 29 Nov 2022 19:36

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