Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor |
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Authors: | Jung-Yup Kim Ill-Woo Park Jun-Ho Oh |
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Affiliation: | (1) HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon, 305-701, South Korea |
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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°. 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. |
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Keywords: | biped humanoid robot inclined floor KHR-2 uneven floor walking control |
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