Humanoid Bipedal Balancing and Locomotion

摘要

This article is about humanoid robot bipedal balancing and locomotion. There is a description of bipedal robots and main concepts. The Linear Inverted Pendulum Mode and its main advantages are presented. In general, the main identified problem about humanoid robot locomotion is the collecting and analyzing information about the near environment, particularly about the terrain. The proposed method assumes implementing, firstly, the improved vision system that consists of LIDAR and an additional camera that allows to identify object and surface properties and, secondly, design a pressure-sensitive system for getting a pressure map of the surface under the robot feet. Finally, both of these sensor systems should have a unified database of the object and surface types to verify the surface properties by various methods.