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Walking Stabilization Control for Humanoid Robots on Unknown Slope Based on Walking Sequences Adjustment

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A Correction to this article was published on 07 February 2018

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Abstract

In order to achieve higher adaptability, the control strategy based on walking sequence adjustment for accommodating unexpected slope terrains in bipedal walking is proposed in this paper, which consists of the Zero-Moment-Point (ZMP) tracking control, foot landing control, posture &yaw control. In our previous work, the 3-D walking sequences (WS) were defined and the online walking pattern generation based on the modified minimal orbit energy control (MMOEC) was realized. In this paper, utilizing the sensory reflex, the walking status is estimated and walking modes are judged when walking on slope terrains. Then, considering the stability and feasibility constraints, the real-time WS adjustment strategies for different walking modes are proposed. For the stabilization control, combining the modified preview control with the MMOEC by the angle coefficient, the ZMP generation and tracking control is first realized. Besides, the foot landing control is also adopted to reduce the impact force and accommodate the unknown terrain. With the posture control and yaw reduction, the stable biped walking on slopes terrains are realized, without a priori information.

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Change history

  • 07 February 2018

    The original version of this manuscript unfortunately contained errors. On page 14, “Grant No. 51175383” should be “Grant No. 51675385.” The correct line should read: This research is supported by the National Foundation of China (Grant No. 51675385).

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Acknowledgements

This research is supported by the National Foundation of China (Grant No. 51175383).

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Authors and Affiliations

  1. Department of Mechanical Engineering, School of Power and Mechanical Engineering, Wuhan University, No8, South Donghu Road, Wuchang district, Wuhan, 430072, China

    Jiatao Ding, Yang Wang, Minghui Yang & Xiaohui Xiao

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  1. Jiatao Ding
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  2. Yang Wang
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  3. Minghui Yang
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  4. Xiaohui Xiao
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Correspondence to Xiaohui Xiao.

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Ding, J., Wang, Y., Yang, M. et al. Walking Stabilization Control for Humanoid Robots on Unknown Slope Based on Walking Sequences Adjustment. J Intell Robot Syst 90, 323–338 (2018). https://doi.org/10.1007/s10846-017-0685-4

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  • DOI: https://doi.org/10.1007/s10846-017-0685-4

Keywords

Mathematics Subject Classification (2010)