Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

Xiang Meng; Zhangguo Yu; Gao Huang; Xuechao Chen; Weijie Qi; Qiang Huang; Bo Su

doi:10.1109/ARSO46408.2019.8948795

Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

Xiang Meng, Zhangguo Yu, Gao Huang^*, Xuechao Chen, Weijie Qi, Qiang Huang, Bo Su

^*Corresponding author for this work

School of Mechatronical Engineering

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

4 Citations (Scopus)

Abstract

Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	176-179
Number of pages	4
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948795
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

Access to Document

10.1109/ARSO46408.2019.8948795

Cite this

Meng, X., Yu, Z., Huang, G., Chen, X., Qi, W., Huang, Q., & Su, B. (2019). Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 176-179). Article 8948795 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948795

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title = "Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model",

abstract = "Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.",

author = "Xiang Meng and Zhangguo Yu and Gao Huang and Xuechao Chen and Weijie Qi and Qiang Huang and Bo Su",

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year = "2019",

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language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

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Meng, X, Yu, Z, Huang, G, Chen, X, Qi, W, Huang, Q & Su, B 2019, Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948795, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 176-179, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948795

Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model. / Meng, Xiang; Yu, Zhangguo; Huang, Gao et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 176-179 8948795 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

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

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AB - Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.

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Meng X, Yu Z, Huang G, Chen X, Qi W, Huang Q et al. Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. p. 176-179. 8948795. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948795

Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

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