Motion Modeling for Humanoid Robot Walking on Slopes

Jing Yang; Jun Wu; Rong Xiong

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 308-310Motion Modeling for Humanoid Robot Walking on...

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.

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Periodical:

Advanced Materials Research (Volumes 308-310)

Pages:

2139-2145

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.308-310.2139

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Online since:

August 2011

Authors:

Jing Yang, Jun Wu, Rong Xiong

Keywords:

Cart-Table Model, Humanoid Robot, Off-Line Planning, Slope

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