Simulation and Experimental Analysis of a Humanoid Robot Walking on a Sloping Surface in an Arbitrary Direction

Walking patterns for humanoid robots have been studied in the literature based on different approaches. Most of them are inspired by human walking and consider that the robot walk on a horizontal plane with symmetrical motions of the legs. Conversely, in this paper, studies are carried out to determine the values of the parameters associated with a stable walking pattern that uses cycloidal motions of the torso and the free foot, for the robot moving in any direction on an inclined plane. Such studies are based on the behavior of the ZMP in the walking. Experimental results validate the efficacy of the approach.