Abstract
A new design method to obtain walking parameters for a three-dimensional (3D) biped walking along a slope is proposed in this paper. Most research is focused on the walking directions when climbing up or down a slope only. This paper investigates a strategy to realize biped walking along a slope. In conventional methods, the centre of mass (CoM) is moved up or down during walking in this situation. This is because the height of the pendulum is kept at the same length on the left and right legs. Thus, extra effort is required in order to bring the CoM up to higher ground. In the proposed method, a different height of pendulum is applied on the left and right legs, which is called a dual length linear inverted pendulum method (DLLIPM). When a different height of pendulum is applied, it is quite difficult to obtain symmetrical and smooth pendulum motions. Furthermore, synchronization between sagittal and lateral planes is not confirmed. Therefore, DLLIPM with a Newton Raphson algorithm is proposed to solve these problems. The walking pattern for both planes is designed systematically and synchronization between them is ensured. As a result, the maximum force fluctuation is reduced with the proposed method.
Highlights
Robots are able to move around on the ground with different approaches such as by wheels [1], hybrid locomotion that combines wheels and legs [2] or merely by using legs
Dual Length Linear Inverted Pendulum Method (DLLIPM) can be used to solve biped walking along a slope or stairs
A generalized method known as DLLIPM with the Newton Raphson algorithm is proposed in order to determine parameters of 3D biped walking along a slope
Summary
Robots are able to move around on the ground with different approaches such as by wheels [1], hybrid locomotion that combines wheels and legs [2] or merely by using legs. SNysotr.,a2n0d1S3a,nVioIrl.w1a0n, M37d7S:2a0lim13: 1 3-D Biped Robot Walking along Slope with Dual Length Linear Inverted Pendulum Method (DLLIPM). There are many researchers who have investigated the dynamic balance motion criterion and biped robot walking patterns such as zero moment point (ZMP) [5,6,7], linear inverted pendulum (LIPM) [8] and virtual supporting point (VSP) [9]. Vukabrotovic et al have introduced the ZMP concept in order to ensure the dynamic balance of a walking biped robot [5]. The main task of this paper is to investigate biped walking along a slope.
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