Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

Abstract

Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.