期刊
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷 13, 期 -, 页码 -出版社
SAGE PUBLICATIONS INC
DOI: 10.5772/62245
关键词
Humanoid Robot; Uneven Terrain; Walking Control; Terrain Estimation
类别
资金
- National Foundation of China [51405430, 61473258, U1509210]
Humanoid robots are expected to achieve stable walking on uneven terrains. In this paper, a control algorithm for humanoid robots walking on previously unknown terrains with terrain estimation is proposed, which requires only minimum modification to the original walking gait. The swing foot trajectory is redesigned to ensure that the foot lands at the desired horizontal positions under various terrain height. A compliant terrain adaptation method is applied to the landing foot to achieve a firm contact with the ground. Then a terrain estimation method that takes into account the deformations of the linkages is applied, providing the target for the following correction and adjustment. The algorithm was validated through walking experiments on uneven terrains with the full-size humanoid robot Kong.
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