Real-time Motion Planning Using Proximity Information for Bipedal Walking on Sloped Terrain

摘要

This paper presents a motion planning method for a bipedal robot to walk through terrain constructed by various slopes. The method uses terrain information obtained from proximity sensors which are mounted on each foot. The obtained information changes especially due to a motion of the swing leg because the proximity sensor detects a local terrain. Hence, the proposed method generates the trajectory every control cycle by using the terrain information obtained by the proximity sensor which has fast responsiveness (< 1[ms]). In our previous work, a design method was proposed for an arc-shaped proximity sensor detecting two relative amounts (distance and posture) between the sensor and object independently. We also presented a motion planning method for bipedal walking on even terrain, which can reduce energy consumption by a rolling effect of the arc-shaped foot. The proposed method in this paper uses the above method on even terrain and a trajectory generation method using the sensor if the tilt is changed. The collaboration of two motion planning methods achieves both lower energy consumption on even terrain and walking through the tilt changing terrain. In two types of simulation, the trajectory generation adapted to random slopes and a walking the above features are confirmed.