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

摘要

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.