A Universal Pattern Generator For Humanoid Robots Walking On Slopes

The research of humanoid robots walking on slopes can effectively improve their adaption to the complicated environment and extend their application range. Up to now, most of existing pattern generators for humanoid robot walking on slopes only focused on a special direction, which are seldom suitable for all directions. Therefore, this dissertation presents a universal pattern generator for humanoid robot walking on slopes in all directions based on Dual Length Linear Inverted Pendulum Mode(DLLIPM) and non-orthogonal decoupling theory. It is supported by the Development Program of China and National Natural Science Foundation of China. The main research issues and results are summarized as follows.First, the significance of this study is proposed. The status and trend of humanoid robots are investigated. The status of humanoid robots walking on slopes is analyzed, and then the research issues and structure of this dissertation are presented.Second, in order to generate diagonal walking on slopes, two describing parameters are defined, and the non-orthogonal decoupling model based on Three Dimensional Linear Inverted Pendulum Mode(3D-LIPM) is proposed. And the motion planning of humanoid robots’ centre of mass(COM) is decomposed in sagittal plane and cornal plane.Third, based on the non-orthogonal decoupling model, a harmonious walking pattern generator with DLLIPM is designed to realize all directions walking on structured slopes for a humanoid robot.Finally, a humanoid robot model based on BHR-5 is built in a dynamics simulation environment using ADAMS software. The proposed walking pattern generator for humanoid robot walking on slopes are validated by simulations and experiments on BHR-5, which include walking on level ground, walking across slopes, walking along slopes and diagnose walking on slopes.