Slope Balancing Strategy for Bipedal Robot Walking Based on Inclination Estimation Using Sensors Fusion

摘要

The ability of a biped robot to run on various types of floors and slopes can be an additional guarantee that the robot is capable of performing various tasks as can be done by humans. This paper is the result of a study on a bipedal robot that only consists of a body and two legs with two feet to use the ankle-hip and time delay strategy to anticipate the effects of the slope of the floor during walking. The result of the research is the robot could adapt the change of slope up to 12 degrees while walking with so that it can keep the balance and does not fall. The hip and ankle strategies are applied together on the inclined floor by dividing the slope impact on the hip and ankle joint to a certain ratio, while the time delay strategy is done when the robot walks on a sloping surface to increase the binding power of the foot to the floor.