A Universal Pattern Generator for Biped Walking on 3D Slopes

被引：0

作者：

Zhang, Wen

Huang, Qiang

Yu, Zhangguo ^{[1
]}

Chen, Xuechao

Fu, Chenglong

Li, Jing

Ma, Gan

Meng, Libo

Wu, Ying

Zhang, Weimin

机构：

[1] Beijing Inst Technol, Sch Mechatron Engn, Intelligent Robot Inst, Beijing 100081, Peoples R China

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 | 2014年

关键词：

ROBOT;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1302 / 1307

页数：6

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