TY - JOUR
T1 - Modelling and control for a bipedal robot on slopes
AU - Liu, Lianqing
AU - Iwata, Hiroyasu
AU - Sheng, bi
AU - Huaqing, Min
AU - Min, Dong
AU - Zhongjie, Zhuang
N1 - Funding Information:
This research is supported by Guangdong Provincial Funds (No. S2011040002784) and Central University of Basic Scientific Research Funds (No. 2011ZM0067 and No. 2011ZM0065). Guangdong Ministry of Education Foundation (No. 2011B090400590).
PY - 2013/10
Y1 - 2013/10
N2 - This paper presents a systematic trajectory generation method for a bipedal robot walking on slopes. A suitable offline walking pattern based on an inverted pendulum model is designed and the planning is parameterized by step lengths, step period and other walking parameters. Meanwhile, a slight unevenness of a slope can cause serious instability for bipedal walking robots. Therefore, this paper also proposes an online control algorithm for a bipedal robot even walking on the unevenness slope, and the robot can adapt to the floor conditions. The control algorithm includes a landing time controller, landing direction controller, zero moment point (ZMP) regulation controller and attitude correction controller. During the process, accurate attitude information for these controllers is achieved through an adaptive filtering method and the ZMP position is measured through force sensing register sensors, which are attached to the robot's feet. Finally, the experiment is carried out on a SCUT-I humanoid robot. The result proves that the method described in this paper can successfully control a robot walking on slopes.
AB - This paper presents a systematic trajectory generation method for a bipedal robot walking on slopes. A suitable offline walking pattern based on an inverted pendulum model is designed and the planning is parameterized by step lengths, step period and other walking parameters. Meanwhile, a slight unevenness of a slope can cause serious instability for bipedal walking robots. Therefore, this paper also proposes an online control algorithm for a bipedal robot even walking on the unevenness slope, and the robot can adapt to the floor conditions. The control algorithm includes a landing time controller, landing direction controller, zero moment point (ZMP) regulation controller and attitude correction controller. During the process, accurate attitude information for these controllers is achieved through an adaptive filtering method and the ZMP position is measured through force sensing register sensors, which are attached to the robot's feet. Finally, the experiment is carried out on a SCUT-I humanoid robot. The result proves that the method described in this paper can successfully control a robot walking on slopes.
KW - Bipedal robot
KW - SCUT-I
KW - slope
KW - walking control
UR - http://www.scopus.com/inward/record.url?scp=84884175853&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84884175853&partnerID=8YFLogxK
U2 - 10.1177/0142331212457582
DO - 10.1177/0142331212457582
M3 - Article
AN - SCOPUS:84884175853
SN - 0142-3312
VL - 35
SP - 910
EP - 921
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
IS - 7
ER -