Diagonal Walking Strategy on Inclined Floor with Orientation Based Inverse Kinematics for Biped Robot
نویسنده
چکیده
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 pelvis tilts. Furthermore, in diagonal walking direction, the robot tilts in roll and pitch directions. In this paper, the problem is solved with orientation based inverse kinematics. Roll and pitch orientations of the pelvis are calculated to realize the diagonal walking on inclined floor. Center of mass trajectory is obtained by using linear inverted pendulum mode. The proposed method is validated via simulations by using a 3-D robot computer simulator known as ROCOS.
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