Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Biped Walking of Hydraulic Humanoid Robot on Inclined Floors

유압식 이족 휴머노이드 로봇의 경사면 보행 연구

  • Kim, Jung-Yup (Seoul National University of Science and Technology)
  • 김정엽 (국립서울과학기술대학교 기계설계 자동화공학부)
  • Received : 2011.07.17
  • Accepted : 2011.12.14
  • Published : 2012.03.01
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Abstract

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

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