TY - GEN
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
N1 - Publisher Copyright:
© 2014 IEEE.
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.
UR - http://www.scopus.com/inward/record.url?scp=84983164498&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2014.7090513
DO - 10.1109/ROBIO.2014.7090513
M3 - Conference contribution
AN - SCOPUS:84983164498
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 1302
EP - 1307
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -