A universal pattern generator for biped walking on 3D slopes

Author

Wen Zhang ; Qiang Huang ; Zhangguo Yu ; Xuechao Chen ; Chenglong Fu ; Jing Li ; Gan Ma ; Libo Meng ; Ying Wu ; Weimin Zhang

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2014

Firstpage

1302

Lastpage

1307

Abstract

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.

Keywords

gait analysis; legged locomotion; 3D slope generation; DLLIPM; biped robot walking; dual-linear inverted pendulum method; parameter unification; three-dimensional slope; uneven terrain walking; universal pattern generator; walking directions; Foot; Generators; Legged locomotion; Robot kinematics; Three-dimensional displays; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on

Type

conf

DOI

10.1109/ROBIO.2014.7090513

Filename

7090513