A motion control scheme for a biped robot to climb sloping surfaces

A scheme to enable a biped robot to climb sloping surfaces is proposed. By means of sensing devices, namely, position sensors on the joints and force sensors underneath the heel and toe, a biped robot called SD-2 is able to detect the transition of the supporting terrain from a flat floor to a sloping surface and to walk on the slope. Since in the frontal plane almost no difference exists for biped locomotion on level or on slope, the study concentrates on the sagittal plane