Stabilization control for humanoid robot to walk on inclined plane

摘要

In this paper, a novel stabilization control is proposed for humanoid robot to walk dynamically on an inclined plane. Online walking control is indispensable to obtain a stable dynamic walking, even if the walking pattern is provided based on a zero moment point and an angular momentum because modeling errors and external disturbances, which are not expected in the modeling stage, may exist in the actual condition. Considering these issues, this paper proposes a stabilization control, which consists of landing force controller, posture controller and walking pattern generator to walk on the inclined plane. The proposed control does not require a complex dynamic equation of robot and the adjustment of control parameters because it is based on time-domain passivity approach. Moreover, it can guarantee the stability of the controller without requiring any dynamic model information. The proposed control is verified through dynamic walking simulations using Webots simulator.