Biped Locomotion
Ascending and descending stairs for a biped robot
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Optimizing walking controllers
ACM SIGGRAPH Asia 2009 papers
SURALP: a new full-body humanoid robot platform
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
ACM SIGGRAPH 2010 papers
Fuzzy dynamic modeling for walking modular robot control
AEE'10 Proceedings of the 9th WSEAS international conference on Applications of electrical engineering
Modeling and hybrid position-force control of walking modular robots
AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
A multi-functional approch of the HFPC walking robots
Proceedings of the 15th WSEAS international conference on Systems
Dynamic balancing and walking for real-time 3d characters
MIG'11 Proceedings of the 4th international conference on Motion in Games
Realization of a biped robot lower limb walking without double support phase on uneven terrain
Journal of Control Science and Engineering
Humanoid robot RH-1 for collaborative tasks: a control architecture for human-robot cooperation
Applied Bionics and Biomechanics
Hi-index | 0.00 |
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors. In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test robot platform of our biped humanoid robot, HUBO.