The Open Automation and Control Systems Journal

2015, 7 : 1002-1009
Published online 2015 September 10. DOI: 10.2174/1874444301507011002
Publisher ID: TOAUTOCJ-7-1002

Research on Humanoid Robot Slope Gait Planning

Zhu Xiaoguang and Hu Ruyi
School of Energy Power and Mechanical Engineering, North China Electric Power University, Baoding 071000, P.R. China.

ABSTRACT

This paper is based on the robot model NCEPU-I. With this model, we proposed a robot slope walking gait method based on improved algorithm of inverse kinematics. With the bar linkage model, the humanoid robot slope gait could be planned by hips and swing leg ankle trajectory planning and then the slope gait planning can be achieved. This method can achieve and apply to different angles with high efficiency. Finally, after mathematical modeling and simulating by MATLAB and ADAMS, the simulation results verify the correctness and applicability of gait planning.

Keywords:

Humanoid robot, inverse kinematics, slope gait planning, ZMP (zero moment point).