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Foot Placement Control For Bipedal Walking On Uneven Terrain: An Online Linear Regression Analysis Approach

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationAssistive Robotics
Subtitle of host publicationProceedings of the 18th International Conference on CLAWAR 2015
PublisherWorld Scientific
Pages478-485
Number of pages8
ISBN (Electronic)978-981-4725-25-5
ISBN (Print)978-981-4725-23-1
Publication statusPublished - Oct 2015

Abstract

This paper presents a novel foot placement control algorithm for adaptive bipedal walking. In this method, the torso attitude and height are stabilized by synergic patterns so that the forward velocity and its change have a stable and nearly linear relation with the foot placement. Hence, our proposed online linear regression analysis well represents the local linear models by estimating continuously from measured data. Based on this estimation, an appropriate foot placement can be determined to control the forward velocity. Our simulation study successfully demonstrates the natural gait with accurate tracking of walking velocity, and the robustness of walking over even terrain.

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