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

When a humanoid robot walks on a sloping plane in an arbitrary direction, the right leg flexion is different to that of the left leg. In this way, the orientation of the torso is gotten to preserve the equilibrium of the humanoid during the walking. In such a case, the specification of the required 3D motions of the pelvis and feet becomes a quite complex issue. To solve this problem, in this paper a general and simplified formulation is proposed and applied to obtain a cycloidal walking pattern for a humanoid robot. Simulations of walking are achieved for several study cases that show the efficacy of the proposed approach.