Ground reference points adjustment scheme for biped walking on uneven terrain

Abstract

In this thesis, we propose an optimized approach for humanoid robot trajectory generation in complex environments, especially uneven terrain. Moving Ground Reference Map is proposed as a continuously adjusted in real time based on the robot?s actual dynamics during locomotion to maintain stable walking in face of external disturbance. The moving ground reference map presented in this thesis was considerably important since they not only improved the disturbance rejection ability but also avoided the falling due to visible unevenness by containing the terrain profiles. The preview controller was presented to generate the walking pattern with consideration of terrain profiles. This study can achieve an excellent performance for bipedal robot walking, especially over uneven terrain. The technique is very general and can be applied to a wide variety of humanoid robots.