Inclined plane walking compensation for a humanoid robot

This paper suggested the simple compensation algorithm for a humanoid robot when walking on an inclined plane. Motion transition of the robot for varying slope can be achieved from adjusting the center of mass of the robot forward/backward by compensating the robot´s ankle. This proposed method used the feedback from the accelerometer in the robot´s body to detect the inclination angle of the ground plane. The proposed method was tested with a small-sized humanoid and showed that it can successfully maintain stability of the walk on a varying inclined plane up to 10 degrees.