Posture adaptation of humanoid robot for standing on the inclined floor using inverse kinematics of the projective method

This paper deals with humanoid robot´s standing on the inclined floor with a walk-ready posture, which is usual in human´s living environment. To this end, inverse kinematic method is newly proposed using the projection method and Taylor polynomial expansion. In addition, each joint angle in the legs is adjusted according to the scheme with which the robot is aligned with the modified gravity force and the feet are still attached on the inclined floor. The proposed approach is validated through simulation result.