3 accepted papers
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…
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…
Like level-ground walking, biological experiments have shown that humans largely maintain compliant leg behavior during slope walking, which greatly reduces the mechanical cost of transportation. Nowadays biped robots are becoming more and more functional on irregular terrains, yet no theoretical mo…