Stable walking of humanoid robot based on a liquid level model

In this paper, a biped walking pattern generator is investigated. It is based on a combination between a fuzzy logic control and a new modeling technique. The latest is called “the Liquid Level Model”. Therefore, the dynamics of a biped robot is modeled as a running liquid level on a tank which gives a convenient representation to treat the Zero-Moment-Point (ZMP) and the Center of Mass (CoM). The main problem treated in this paper is how to keep the CoM and the ZMP inside the stability boundary region, with respect to all possibility variation of the slope in uneven terrain walking. Simulation results prove that the robot can walk on many types of slopes by using the proposed model.