A Footstep-plan-based Floor Sensing Method Using Stereo Images for Stable Slope Walking of Biped Robot
نویسندگان
چکیده
منابع مشابه
Diagonal Walking Strategy on Inclined Floor with Orientation Based Inverse Kinematics for Biped Robot
119004-7272 IJMME-IJENS © August 2011 IJENS I J E N S Abstract—In this paper, diagonal walking strategy on inclined floor is proposed. In conventional methods, bipedal robots walking on inclined floor are solved only in straight direction. When a biped walks on flat floor, the pelvis orientation is always parallel with the floor surface. However, walking on inclined floor will make the robot ...
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Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
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In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2010
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.28.112