Abstract:

The purpose of this thesis is to develop a sensor-based detection system installed in the robot’s foot. This system is used to improve the stability of the robot walking on unknown ground. The re-planning controller is also developed to increasing the walking stability on unknown surface. In order to explore the development of this thesis, the slope walking problem of the humanoid robot will be discussed and validated.

In order to enable the robot to walk freely and stably in an unknown environment, the robot’s cognition of environmental information is very important. For reducing the effect from unknown surface, like external impact force. The non-contact characteristic of sensor is used in this thesis, then robot can obtain timely information about the ground and then prepare in advance. Then the impact force can be reduced and the walking stability will be increased. This thesis will also explore a ground information analysis method based on the surface detecting system, and then develop a real-time trajectory re-planning controller to analyze the ground information and re-plan the trajectory. The desired surface detecting system and re-planning controller are realized in proposed robot for simulations and experiments.