Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor

Abstract

This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors. In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2 degrees. It is important to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test robot platform of our biped humanoid robot, HUBO.

Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain

“…In the biped robotics research field, the gait trajectory, otherwise known as the walking pattern, generates the relative position trajectories of two feet with respect to the pelvis center [16]. The paper set the geometric center of the trunk upper surface as the origin point of the basic coordinate system; points to the direction of forward motion, is perpendicular to the trunk (shown as Figure 3), and then is the frontal plane and is the lateral plane.…”

Dynamic Balancing and Walking for Real-Time 3D Characters

“…Considering locomotion techniques in general, irrelevant of stylized interpretation (be it artist or motion capture inspired) a biped must place their feet in a timely manner within a particular surface area to maintain balance. This "swinging motion of legs" has been shown to be achievable via a physics technique that utilizes an inverted pendulum [23,24].…”

Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

“…The understanding and development of biped walking robots have been researched since the 1970s (Ono et al, 2001). During this period, biped walking robots have transformed into biped humanoid robots through the technological development (Kim et al, 2007).…”