By Topic

Pattern generation for bipedal walking on slopes and stairs

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Weiwei Huang ; Department of Mechanical Engineering, National University of Singapore, Singapore ; Chee-Meng Chew ; Yu Zheng ; Geok-Soon Hong

Uneven terrain walking is one of the key challenges in bipedal walking. In this paper, we propose a motion pattern generator for slope walking in 3D dynamics using preview control of zero moment point (ZMP). In this method, the future ZMP locations are selected with respect to known slope gradient. The trajectory of the center of mass (CoM) of the robot is generated by using the preview controller to maintain the ZMP at the desired location. Two models of slope walking, namely upslope and downslope, are investigated. Continuous walking on slopes with different gradients is also studied to enable the robots to walk on uneven terrains. Since staircase walking is similar to slope walking, the slope walking trajectory generator can also be applied to the staircase walking. Simulation results show that the robot can walk on many types of slopes and stairs by using the proposed pattern generator.

Published in:

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

1-3 Dec. 2008