Name
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. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090513 | robotics and biomimetics |
Keywords | Field | DocType |
biped robot walking,walking directions,legged locomotion,three-dimensional slope,uneven terrain walking,3D slope generation,parameter unification,gait analysis,DLLIPM,dual-linear inverted pendulum method,universal pattern generator | Inverted pendulum,Control theory,Digital pattern generator,Simulation,Terrain,Robot kinematics,Control engineering,Engineering,Robot,Trajectory | Conference |
Citations | PageRank | References |
1 | 0.35 | 12 |
Authors | ||
10 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Weimin Zhang | 1 | 84 | 20.87 |
| Qiang Huang | 2 | 266 | 91.95 |
| Zhangguo Yu | 3 | 46 | 19.12 |
| Xuechao Chen | 4 | 46 | 19.24 |
| Chenglong Fu | 5 | 72 | 16.06 |
| Jing Li | 6 | 2 | 0.72 |
| Gan Ma | 7 | 12 | 5.03 |
| Libo Meng | 8 | 14 | 8.38 |
| Ying Wu | 9 | 1 | 0.35 |
| Weimin Zhang | 10 | 72 | 21.91 |