Ruizhi Bao

2 accepted papers

2018

Fast Walking with Rhythmic Sway of Torso in a 2D Passive Ankle Walker

IROS 2018poster

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 f…

Cited by 2 Source ↗Scholar ↗

2018

The Effect of Swing Leg Retraction on Biped Walking Stability is Influenced by the Walking Speed and Step-Length

Ruizhi Bao, Tao Geng

IROS 2018poster

Swing Leg Retraction (SLR) is observed in human walking and running. Previous studies have concluded that SLR improves the stability and robustness of biped walking. But this conclusion was based on analysis of robot models that can only walk at a very small range of step-lengths and slow or fixed s…

Cited by 2 Source ↗Scholar ↗