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.


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    Title :

    A universal pattern generator for biped walking on 3D slopes


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


    Publication date :

    2014-12-01


    Size :

    980998 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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