Pose-Control Design for Bipedal Walking on Unknown Slope Surfaces

• Main Authors: Hsieh, Chang-Hung, 謝章宏
• Other Authors: Song, Kai-Tai
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/77055741370991450589

碩士 === 國立交通大學 === 電控工程研究所 === 101 === The objective of this study is to design a walking pattern generator and a balance control system such that a bipedal robot can handle an unknown slope in bipedal walking. The robot uses onboard gyro and accelerometer sensors to detect the pose information of upper-body. A controller is proposed for the robot to walk on unknown slope with suitable adjustment of the tilt angle of the upper-body pose. The theory of central pattern generator(CPG) is applied to generate the walking trajectory. By the pose information of upper-body, we develop a method to determine the relationship of the slope of the terrain and the upper-body posture and generate the compensation motion to adjust the tilt angle of the upper-body. The compensation control consists of the predictive compensation and the immediate compensation. The integrated controller adapts to the unknown slope while robot walking. Using the bipedal robot NAO, the simulation and the experimental results show that the biped robot can walk successfully on unknown slopes.