Title :
Blind walking of a planar bipedal robot on sloped terrain
Author :
Chew, Chee-Meng ; Pratt, Jerry ; Pratt, Gill
Author_Institution :
Leg Lab., MIT, Cambridge, MA, USA
Abstract :
Simple intuitive control strategies can be used to compel bipedal robots to walk over sloped terrain. We describe an algorithm for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The algorithm is developed based on geometric considerations. The overall algorithm is very simple and does not require the biped to have an extensive sensory system for walking over moderate slopes. The ground is detected blindly using only foot contact switches. Using a few simple strategies, we have compelled a simulated 7-link planar biped to walk up and down slopes and over rolling terrain
Keywords :
digital simulation; legged locomotion; robot dynamics; robot kinematics; spatial variables control; blind walking; foot contact switches; intuitive control strategies; planar bipedal robot; rolling terrain; sloped terrain; transition locations; unknown slope gradients; Actuators; Foot; Force control; Heuristic algorithms; Laboratories; Leg; Legged locomotion; Robot sensing systems; Springs; Torque control;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770008