Title :
A motion control scheme for a biped robot to climb sloping surfaces
Author :
Zheng, Yuan F. ; Shen, Jianbing ; Sias, Fred A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
A scheme to enable a 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, a biped robot called SD-2 is able to detect the transition of the supporting terrain from a flat floor to a sloping surface and to walk on the slope. Since in the frontal plane almost no difference exists for biped locomotion on level or on slope, the study concentrates on the sagittal plane
Keywords :
control system analysis; position control; robots; SD-2; biped robot; force sensors; motion control; position sensors; slope climbing; walking machine; Foot; Force sensors; Hip; Leg; Legged locomotion; Motion control; Rain; Robot sensing systems; Vehicle dynamics; Vehicles;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12159
