Biped Robot Walking on Uneven Terrain using Impedance Control and Terrain Recognition Algorithm

Abstract

This paper proposes the method for a biped robot to walk on uneven terrain. In order to generate the walking trajectory on flat terrain, the robot is modeled as one particle and the momentum equation with respect to its zero moment point is used. First, a method using impedance control to reduce the ground reaction force due to unexpected contact is proposed. Second, a method which reflects angle of terrain and height to the desired trajectory of biped robot to reduce the error of terrain information and to stabilize the biped robot walking on uneven terrain is proposed. The effectiveness of the proposed methods was proved in simulations.