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Robust Walking Algorithm of Biped Robot on Uneven Terrain  

Lee, Bo-Hoon (Graduate School of Bio and Information Tech, Hankyong National University)
Park, Jong-Han (Graduate School of Bio and Information Tech, Hankyong National University)
Lee, Chang-Seok (Graduate School of Bio and Information Tech, Hankyong National University)
Kim, Yong-Tae (Department of Information and Control Engineering Hankyong National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.48, no.4, 2011 , pp. 33-39 More about this Journal
Abstract
Biped robot with high DOF has instability in mechanism. Therefore, it is important to guarantee walking stability of biped robot. Biped robot can stably walk on the flat ground using static walking patterns. However, walking stability of robot becomes increasingly worse on the uneven terrain. In the paper, we propose a robust walking algorithm of biped robot with motion stabilization to solve the problem The proposed algorithm was designed to stabilize walking motions based on the inclination of robot body using a gyro sensor and a accelerometer equipped in the center of the upper body. If unstable motions are recognized, angles of each joints are modified to increase stability by using compensation of angles of lower legs. The experimental results show that biped robot performs stable walking on the uneven terrain.
Keywords
Robust biped walking; biped robot; motion stabilization; uneven terrain; gyro; acceleration sensor;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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