An improved trajectory of biped robot for walking along slope

A bipedal robot should be robust and able to move in various directions on slope or stairs. However, up to date many research studies have been focussing on walking in the up or down direction only. Therefore, a strategy to realize walking along slope is investigated. In conventional methods, CoM is moved up and down during walking in this situation. In this paper, a method named as dual length linear inverted pendulum method with Newton-Raphson is proposed in order to move CoM always in horizontal. Different lengths of pendulums are applied at left and right legs in order to represent the CoM height. By using the proposed method, maximum impact forces are reduced as verified via the simulation results.