Abstract
This paper investigates the planning and control of biped walking along curved paths on unknown and uneven terrain. For widespread use of biped robots, the capability of walking on unknown and uneven terrain is essential. The description of uneven terrain, as the basis of discussion, is presented in terms of the spatial relationship between the world frame and the robot local frames. Then the principle and implementation of walking pattern planning are given phase by phase. Feedback controllers, including the phase switching controller, the stabilizing controller and the foot landing controller, are also designed to guarantee stable and agile walking. The motion planning, path following, and controller design are discussed within the identical framework, such that various walking behaviors can be generated with few walking parameters modified. Some results of simulation and experiments performed on the LOCH robotic platform are given to show the effectiveness of the proposed approach.
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Zhang, G., Xie, M., Yin, H., Wang, L., Yang, H. (2009). Planning and Control of Biped Walking along Curved Paths on Unknown and Uneven Terrain. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_101
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DOI: https://doi.org/10.1007/978-3-642-10817-4_101
Publisher Name: Springer, Berlin, Heidelberg
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