A scheme to enable the SD-2 biped robot to climb sloping surfaces is proposed. By means of sensing devices, namely position sensors on the joints and force sensors underneath the heel and toe, the robot is able to detect the transition of the supporting terrain from a flat floor to a sloping surface. An algorithm is developed for the biped robot control system to evaluate the inclination of the supporting foot and the unknown gradient, and a compliant motion scheme is then used to enable the robot to transfer from level walking to climbing the slope. While the robot walks on the slope, the gait synthesis is a simple modification to the one used for level walking. Experiments with the SD-2 biped robot show that the overall scheme, while simple to implement, is powerful and reliable enough to permit walking from level to slope or vice versa. Finally, it is argued that the proposed mechanism can be extended to quasi-dynamic and dynamic gaits.
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