A universal pattern generator for biped walking on 3D slopes

Wen Zhang; Qiang Huang; Zhangguo Yu; Xuechao Chen; Chenglong Fu; Jing Li; Gan Ma; Libo Meng; Ying Wu; Weimin Zhang

doi:10.1109/ROBIO.2014.7090513

A universal pattern generator for biped walking on 3D slopes

Wen Zhang, Qiang Huang, Zhangguo Yu^*, Xuechao Chen, Chenglong Fu, Jing Li, Gan Ma, Libo Meng, Ying Wu, Weimin Zhang

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1302-1307
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090513
Publication status	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090513

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Zhang, W., Huang, Q., Yu, Z., Chen, X., Fu, C., Li, J., Ma, G., Meng, L., Wu, Y., & Zhang, W. (2014). A universal pattern generator for biped walking on 3D slopes. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1302-1307). Article 7090513 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090513

@inproceedings{0ccbf275433b423b9daf4edf4c59f751,

title = "A universal pattern generator for biped walking on 3D slopes",

abstract = "Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.",

author = "Wen Zhang and Qiang Huang and Zhangguo Yu and Xuechao Chen and Chenglong Fu and Jing Li and Gan Ma and Libo Meng and Ying Wu and Weimin Zhang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

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doi = "10.1109/ROBIO.2014.7090513",

language = "English",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

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Zhang, W, Huang, Q , Yu, Z , Chen, X, Fu, C, Li, J, Ma, G, Meng, L, Wu, Y & Zhang, W 2014, A universal pattern generator for biped walking on 3D slopes. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090513, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1302-1307, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090513

A universal pattern generator for biped walking on 3D slopes. / Zhang, Wen; Huang, Qiang ; Yu, Zhangguo et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1302-1307 7090513 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A universal pattern generator for biped walking on 3D slopes

AU - Zhang, Wen

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Fu, Chenglong

AU - Li, Jing

AU - Ma, Gan

AU - Meng, Libo

AU - Wu, Ying

AU - Zhang, Weimin

PY - 2014/4/20

Y1 - 2014/4/20

N2 - Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

AB - Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

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Zhang W, Huang Q , Yu Z , Chen X, Fu C, Li J et al. A universal pattern generator for biped walking on 3D slopes. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1302-1307. 7090513. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090513

A universal pattern generator for biped walking on 3D slopes

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