Center of mass based inverse kinematics algorithm for bipedal robot motion on inclined surfaces

Nowadays, humanoid researches are progressing widely in many applications. Some of the applications are walking in human environments such as on stairs and inclined floor. In order to solve this, there are researchers who implemented ankle torque control approach. However, by implementing this approach, it may saturate the ankle joints and if too much force is applied, it may damage the ankle joints. Therefore, the authors' group proposed an approach to distribute the angles caused by the inclined surfaces via distribution among the robot joints. The orientations of CoM or pelvis of the robot can be embedded into the inverse kinematics in order to achieve successful walking on inclined surfaces. A 3-D dynamic simulator which is known as ROCOS and developed in our laboratory is used for simulation in order to validate our proposed method.