Walking Control Algorithm of Biped Humanoid
Robot on Uneven and Inclined Floor
Jung-Yup Kim, Ill-Woo Park and Jun-Ho Oh
HUBO Laboratory, Humanoid Robot Research Center,
Department of Mechanical Engineering,
Korea Advanced Institute of Science and...
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Walking Control Algorithm of Biped Humanoid
Robot on Uneven and Inclined Floor
Jung-Yup Kim, Ill-Woo Park and Jun-Ho Oh
HUBO Laboratory, Humanoid Robot Research Center,
Department of Mechanical Engineering,
Korea Advanced Institute of Science and Technology,
373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea,
E-mail: jungyupkim@kaist.
ac.
kr , jhoh@kaist.
ac.
kr
Fax : +82-42-869-8900
ABSTRACT
This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an
uneven and inclined floor.
Many walking control techniques have been developed based on the
assumption that the walking surface is perfectly flat with no inclination.
Accordingly, most biped
humanoid robots have performed dynamic walking on well designed flat floors.
In reality, however, a
typical room floor that appears to be flat has local and global inclinations of about 2 degrees.
It is
important to note that even slight unevenness of a floor can cause serious instability in biped
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