TY - GEN
T1 - Planning and control of biped walking along curved paths on unknown and uneven terrain
AU - Zhang, Guoqing
AU - Xie, Ming
AU - Yin, Hang
AU - Wang, Lei
AU - Yang, Hejin
PY - 2009
Y1 - 2009
N2 - This paper investigates the planning and control of biped walking along curved paths on unknown and uneven terrain. For widespread use of biped robots, the capability of walking on unknown and uneven terrain is essential. The description of uneven terrain, as the basis of discussion, is presented in terms of the spatial relationship between the world frame and the robot local frames. Then the principle and implementation of walking pattern planning are given phase by phase. Feedback controllers, including the phase switching controller, the stabilizing controller and the foot landing controller, are also designed to guarantee stable and agile walking. The motion planning, path following, and controller design are discussed within the identical framework, such that various walking behaviors can be generated with few walking parameters modified. Some results of simulation and experiments performed on the LOCH robotic platform are given to show the effectiveness of the proposed approach.
AB - This paper investigates the planning and control of biped walking along curved paths on unknown and uneven terrain. For widespread use of biped robots, the capability of walking on unknown and uneven terrain is essential. The description of uneven terrain, as the basis of discussion, is presented in terms of the spatial relationship between the world frame and the robot local frames. Then the principle and implementation of walking pattern planning are given phase by phase. Feedback controllers, including the phase switching controller, the stabilizing controller and the foot landing controller, are also designed to guarantee stable and agile walking. The motion planning, path following, and controller design are discussed within the identical framework, such that various walking behaviors can be generated with few walking parameters modified. Some results of simulation and experiments performed on the LOCH robotic platform are given to show the effectiveness of the proposed approach.
UR - https://www.scopus.com/pages/publications/76649121246
U2 - 10.1007/978-3-642-10817-4_101
DO - 10.1007/978-3-642-10817-4_101
M3 - Conference contribution
AN - SCOPUS:76649121246
SN - 3642108164
SN - 9783642108167
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1032
EP - 1043
BT - Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings
T2 - 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
Y2 - 16 December 2009 through 18 December 2009
ER -