Humanoid walking pattern modification based on foot-ground equivalent contact control

Environmental adaptability plays an important role for humanoid robots to expand their applications. Based on force and torque information during foot-ground contact, this paper presents a strategy for humanoid robots to modify preplanned walking pattern by using foot-ground equivalent contact control. Firstly, swing foot landing course is described, then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, and an active compliant theorem based fuzzy controller is designed to realize foot-ground contact control. Combined with procedure of motion planning, method of walking pattern modification is put forward. Finally, simulation of ¿Virtual Blackmann¿ walking on uneven terrain is designed and related results are shown to validate the effectiveness of proposed strategy.