Torso inclination enables faster walking in a planar biped robot with passive ankles

Article


Geng, T. 2014. Torso inclination enables faster walking in a planar biped robot with passive ankles. IEEE Transactions on Robotics. 30 (3), pp. 753-758. https://doi.org/10.1109/TRO.2014.2298058
TypeArticle
TitleTorso inclination enables faster walking in a planar biped robot with passive ankles
AuthorsGeng, T.
Abstract

There is a category of biped robots that are equipped with unactuated or passive ankles. We call them passive ankle walkers (PAWs). Because the unactuated ankle cannot provide the push-off at the end of stance phase as human ankles do, fast walking in PAWs is more challenging. In this paper, in order to realize fast walking in PAWs, we propose a simple strategy—torso inclination. To test this strategy, we studied a PAW model with simulation and prototype experiments. The simulation has shown how the torso inclination affects the walking speed and the energy efficiency of the PAW. Considering the “reality gap” problem of simulation, we have also experimentally tested this strategy with a real robot. By analyzing both the simulated model and the experimental results of the real robot, we identified the mechanism that accounts for fast walking in torso-inclined PAW

KeywordsBiped robots; legged locomotion; limit cycle walker
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
JournalIEEE Transactions on Robotics
ISSN1552-3098
Electronic1941-0468
Publication dates
Online17 Jan 2014
Print03 Jun 2014
Publication process dates
Deposited26 May 2015
Accepted27 Dec 2013
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1109/TRO.2014.2298058
LanguageEnglish
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