Bipedal robot walking strategy on inclined surfaces using position and orientation based inverse kinematics algorithm

Abstract

This paper proposes a strategy for bipedal robot walking on inclined surfaces using position and orientation based inverse kinematics algorithm. Some researchers implemented control approaches to solve bipedal walking on inclined surfaces. Generally, most of them apply control feedback at ankle joints and also introduced many more control methodologies. In this paper, inverse kinematics methodology is introduced systematically for bipedal walking on inclined floor. Positions and orientations are embedded into the kinematics calculation. In this strategy, a working bipedal robot walking pattern for flat floor must be developed first. Then, the same walking pattern can be used for the inclined floor with orientation included so that the bipedal robot is able to walk on the inclined floor successfully. This methodology will distribute the angles caused by the inclined surfaces to the appropriate robot joints. By doing this, control at ankle joints only is avoided. A 3-D dynamics simulator which is known as Robot Control Simulator and developed in our laboratory is used for simulation in order to validate our proposed method.

Experimental development of stiffness adjustable foot sole for use by bipedal robots walking on uneven terrain

“…2 (c)). Although numerous previous works have been done on bipedal walking on sloped terrain (terrain with global inclination) [5,16,17], the solution is difficult to apply for inclination of the foot sole caused by bumps (terrain with local inclination) as the bumps will not only cause inclination on both the roll and pitch direction, it will also reduce the number of contact points and reduce the size of support polygon for the bipedal robot. An ideal foot sole should be able to eliminate extreme height differences caused by the bumps by adapting to the surface irregularities, which will result in a much more predictable landing condition for the foot (Fig.…”

A Study on Bipedal And Mobile Robot Behavior through Modeling And Simulation

“…In the current model, all joints are those of the revolute joint-type and are controlled via either inverse kinematics or torque/force modes. The joint controlled via the inverse kinematics mode is passive and its operations are determined by the inverse kinematics module [20]. Meanwhile, the joint with torque/force mode is active and can act either as motor or free-wheel joint.…”

3-D Biped Robot Walking along Slope with Dual Length Linear Inverted Pendulum Method (DLLIPM)

“…However, in this paper calculations and simulations are based on a bipedal robot called MARI-3 [15]. In order to verify the proposed method, a 3D dynamic simulator known as ROCOS (RObot COntrol Simulator) is used [16].…”

“…All simulations in this paper are done for a slope, which means the floor is not horizontally flat. Therefore, the foot should be made parallel to the slope surface and realized with an orientation command [15]. The strides are decided as in Table 3.…”

“…Furthermore, there are different groups of legged robots such as hexapod [3], quadruped [4] and biped [5][6][7][8][9][10][11][12][13][14][15][16][17]. The less the number of legs, the more difficult it is to ensure the dynamic balance of the robots.…”