Humanoid robot walking control on inclined planes

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Seven, Utku and Akbaş, Tunç and Fidan, Kaan Can and Yılmaz, Metin and Erbatur, Kemalettin (2011) Humanoid robot walking control on inclined planes. In: IEEE International Conference on Mechatronics (ICM 2011), Istanbul, Turkey

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Official URL: http://dx.doi.org/10.1109/ICMECH.2011.5971237


The humanoid bipedal structure is suitable for a assitive robot functioning in the human environment. However, the bipedal walk is a difficult control problem. Walking just on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the feet is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. The average value of the body pitch angle is used as the inputs to the fuzzy logic system. A foot pitch orientation compensator implemented independently for the two feet complements the fuzyy controller. A 12-degrees-of-freedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the control method presented is successful in enabling the robot to climb slopes of 8.5 degrees (15 percent grade).

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Humanoid robots , bipedal walk , fuzzy systems , inclined plane , orientation controls
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:18333
Deposited By:Kemalettin Erbatur
Deposited On:06 Jan 2012 10:41
Last Modified:31 Jul 2019 09:28

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