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

Conference paper


Bao, R. and Geng, T. 2018. Fast walking with rhythmic sway of torso in a 2D passive ankle walker. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain 01 - 05 Oct 2018 IEEE. pp. 4363-4368 https://doi.org/10.1109/IROS.2018.8593665
TypeConference paper
TitleFast walking with rhythmic sway of torso in a 2D passive ankle walker
AuthorsBao, R. and Geng, T.
Abstract

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.

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Page range4363-4368
ISSN2153-0858
Electronic2153-0866
ISBN
Electronic9781538680940
Paperback9781538680957
PublisherIEEE
Publication dates
Print05 Oct 2018
Online06 Jan 2019
Publication process dates
Deposited13 Jun 2019
Accepted12 May 2018
Output statusPublished
Accepted author manuscript
File Access Level
Open
Copyright Statement

© 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.

Digital Object Identifier (DOI)https://doi.org/10.1109/IROS.2018.8593665
LanguageEnglish
Book title2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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