Planning and Control of Biped Walking along Curved Paths on Unknown and Uneven Terrain

  • GuoQing Zhang
  • Ming Xie
  • Hang Yin
  • Lei Wang
  • HeJin Yang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5928)


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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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • GuoQing Zhang
    • 1
  • Ming Xie
    • 1
  • Hang Yin
    • 1
  • Lei Wang
    • 1
  • HeJin Yang
    • 1
  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingapore

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