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Title: Pattern generation for bipedal walking on slopes and stairs
Authors: Huang, W.
Chew, C.-M. 
Zheng, Y. 
Hong, G.-S. 
Issue Date: 2008
Citation: Huang, W., Chew, C.-M., Zheng, Y., Hong, G.-S. (2008). Pattern generation for bipedal walking on slopes and stairs. 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008 : 205-210. ScholarBank@NUS Repository.
Abstract: Uneven terrain walking is one of the key challenges in bipedal walking. In this paper, we propose a motion pattern generator for slope walking in 3D dynamics using preview control of zero moment point (ZMP). In this method, the future ZMP locations are selected with respect to known slope gradient. The trajectory of the Center of Mass (CoM) of the robot is generated by using the preview controller to maintain the ZMP at the desired location. Two models of slope walking, namely upslope and downslope, are investigated. Continuous walking on slopes with different gradients is also studied to enable the robots to walk on uneven terrains. Since staircase walking is similar to slope walking, the slope walking trajectory generator can also be applied to the staircase walking. Simulation results show that the robot can walk on many types of slopes and stairs by using the proposed pattern generator. © 2008 IEEE.
Source Title: 2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008
ISBN: 9781424428229
DOI: 10.1109/ICHR.2008.4755946
Appears in Collections:Staff Publications

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