Motion Modeling for Humanoid Robot Walking on Slopes

Abstract

Humanoid robot is a highly nonlinear system and balance control is essential to achieve the purpose of stable walking on the plane. As for the inclined plane, the stable walking is even much more difficult. This article proposes a walking pattern with off-line planning for Humanoid robot walking on slopes, which combines the cart-table model on an inclined plane to realize stable walking. The control algorithm is implemented on our robot, experimental results show the realization of stable walking.