Paper Title:
Motion Modeling for Humanoid Robot Walking on Slopes
  Abstract

Humanoid robot is a highly nonlinear system and balance control is essential to achieve the purpose of stable walking on the plane. As for the inclined plane, the stable walking is even much more difficult. This article proposes a walking pattern with off-line planning for Humanoid robot walking on slopes, which combines the cart-table model on an inclined plane to realize stable walking. The control algorithm is implemented on our robot, experimental results show the realization of stable walking.

  Info
Periodical
Advanced Materials Research (Volumes 308-310)
Chapter
New Mechanisms and Robotics
Edited by
Jian Gao
Pages
2139-2145
DOI
10.4028/www.scientific.net/AMR.308-310.2139
Citation
J. Yang, J. Wu, R. Xiong, "Motion Modeling for Humanoid Robot Walking on Slopes", Advanced Materials Research, Vols. 308-310, pp. 2139-2145, 2011
Online since
August 2011
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Price
$32.00
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