Motion Modeling for Humanoid Robot Walking on Slopes

Abstract:

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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)

Edited by:

Jian Gao

Pages:

2139-2145

DOI:

10.4028/www.scientific.net/AMR.308-310.2139

Citation:

J. Yang et al., "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:

$35.00

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