Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A universal pattern generator for biped walking on 3D slopes


    Beteiligte:
    Zhang, Wen (Autor:in) / Huang, Qiang (Autor:in) / Yu, Zhangguo (Autor:in) / Chen, Xuechao (Autor:in) / Fu, Chenglong (Autor:in) / Li, Jing (Autor:in) / Ma, Gan (Autor:in) / Meng, Libo (Autor:in) / Wu, Ying (Autor:in) / Zhang, Weimin (Autor:in)


    Erscheinungsdatum :

    2014-12-01


    Format / Umfang :

    980998 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Biped walking robot control method and biped walking robot control system

    MORIDAIRA TOMOHISA | Europäisches Patentamt | 2016

    Freier Zugriff

    Dragon-shaped biped walking robot and walking method

    CHEN XIAOSEN | Europäisches Patentamt | 2023

    Freier Zugriff

    WALKING CONTROL METHOD, WALKING CONTROL PROGRAM AND BIPED WALKING ROBOT

    YAMAGUCHI MASAHIKO | Europäisches Patentamt | 2017

    Freier Zugriff

    Walking control method, walking control program and biped walking robot

    YAMAGUCHI MASAHIKO | Europäisches Patentamt | 2019

    Freier Zugriff

    Experimental Study of Biped Dynamic Walking

    Kajita, S. / Tani, K. | British Library Online Contents | 1996