Walking control of a biped robot on an inclined plane

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Taşkıran, Evrim and Seven, Utku and Koca, Özer and Yılmaz, Metin and Erbatur, Kemalettin (2009) Walking control of a biped robot on an inclined plane. In: ICONS 2009 - The 2nd International Conference on Intelligent Systems and Control, Istanbul, Turkey

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Abstract

The human structure is suitable for an assistive robot in the human environment. However, the bipedal walk is a challenging problem. Walking on flat and even floor conditions is not satisfactory for the applicability of a humanoid robot. This paper presents an experimental study on bipedal walk on inclined plane. The 29-degrees-of-freedom (DOF) biped robot SURALP is used in the experiments. A variety of controllers for landing impact reduction, body inclination and Zero Moment Point (ZMP) regulation, early landing trajectory modification, and foot–ground orientation compliance are employed. A posture zeroing procedure is followed after manual zeroing of the robot joints. Experiments are carried out on even floor and inclined planes with different slopes. The experimental results indicate that the control algorithms presented are successful in improving the stability of the walk.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Kemalettin Erbatur
Date Deposited: 02 Dec 2009 14:35
Last Modified: 26 Apr 2022 08:53
URI: https://research.sabanciuniv.edu/id/eprint/13027

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