Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2006.10c
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- Pages.542-544
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- 2006
A Study about Stable Walking and Balancing of Biped Robot in a Slope
이족로봇의 경사면 균형 유지와 보행에 관한 연구
Abstract
This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances and in a slope. By using an angular velocity sensor and an acceleration sensor on its waist, we can make a medium-sized biped robot walk stably in a slope against impulsive disturbances. In addition, it is possible for the robot to walk stably in an unknown slope. The measured signals from the sensor are used for compensating the reference angles of ankle, knee, and pelvis joints. Some experiments show that the stability of the robot is much enhanced by using cheat sensors and a simple algorithm. This work helps bided robots walk more stably in real environments.