Full Text:   <2488>

Summary:  <1676>

CLC number: TP242

On-line Access: 2015-04-03

Received: 2014-08-06

Revision Accepted: 2015-01-07

Crosschecked: 2015-03-05

Cited: 0

Clicked: 6416

Citations:  Bibtex RefMan EndNote GB/T7714


Yang Yi


-   Go to

Article info.
Open peer comments

Frontiers of Information Technology & Electronic Engineering  2015 Vol.16 No.4 P.283-292


Stability and agility: biped running over varied and unknown terrain

Author(s):  Yang Yi, Zhi-yun Lin

Affiliation(s):  College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   yiyang517@gmail.com, linz@zju.edu.cn

Key Words:  Underactuated running biped, Dynamic balance, Varied and unknown terrain

Yang Yi, Zhi-yun Lin. Stability and agility: biped running over varied and unknown terrain[J]. Frontiers of Information Technology & Electronic Engineering, 2015, 16(4): 283-292.

@article{title="Stability and agility: biped running over varied and unknown terrain",
author="Yang Yi, Zhi-yun Lin",
journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Stability and agility: biped running over varied and unknown terrain
%A Yang Yi
%A Zhi-yun Lin
%J Frontiers of Information Technology & Electronic Engineering
%V 16
%N 4
%P 283-292
%@ 2095-9184
%D 2015
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1400284

T1 - Stability and agility: biped running over varied and unknown terrain
A1 - Yang Yi
A1 - Zhi-yun Lin
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 16
IS - 4
SP - 283
EP - 292
%@ 2095-9184
Y1 - 2015
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1400284

We tackle the problem of a biped running over varied and unknown terrain. Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficulty and cost of obtaining the terrain information in a timely manner). To address this issue, a new dynamic indicator called the sustainable running criterion is developed. The main idea is to sustain a running motion without falling by maintaining the system states within a running-feasible set, instead of running on a periodic limit cycle gait in the traditional way. To meet the precondition of the criterion, the angular moment about the center of gravity (COG) is restrained close to zero at the end of the stance phase. Then to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing foot is restrained within a specific range at the end of the flight phase. Finally, the position and velocity of the COG are driven into the running-feasible set. A five-link biped with underactuated point foot is considered in simulations. It is able to run over upward and downward terrain with a height difference of 0.15~m, which shows the effectiveness of our control scheme.

In this paper, authors are aimed at controlling the biped running under unknown terrain conditions. The key ideas for coping with the unknown terrain are to keep both angular momentum of the whole body and small swinging foot velocity small. The descriptions for mathematical modeling are clear.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


[1]Chestnutt, J., Lau, M., Cheung, G., et al., 2005. Footstep planning for the Honda ASIMO humanoid. Proc. IEEE Int. Conf. on Robotics and Automation, p.629-634.

[2]Fujimoto, Y., 2004. Trajectory generation of biped running robot with minimum energy consumption. Proc. IEEE Int. Conf. on Robotics and Automation, p.3803-3808.

[3]Hashimoto, K., Sugahara, Y., Kawase, M., et al., 2006. Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, p.1755-1760.

[4]Hashimoto, K., Sugahara, Y., Hayashi, A., et al., 2007. New foot system adaptable to convex and concave surface. Proc. IEEE Int. Conf. on Robotics and Automation, p.1869-1874.

[5]Hirukawa, H., Hattori, S., Kajita, S., et al., 2007. A pattern generator of humanoid robots walking on a rough terrain. Proc. IEEE Int. Conf. on Robotics and Automation, p.2181-2187.

[6]Huang, W.W., Chew, C.M., Zheng, Y., et al., 2008. Pattern generation for bipedal walking on slopes and stairs. Proc. 8th IEEE-RAS Int. Conf. on Humanoid Robots, p.205-210.

[7]Kaneko, K., Kanehiro, F., Kajika, S., et al., 2004. Humanoid robot HRP-2 Promet. Proc. IEEE Int. Conf. on Robotics and Automation.

[8]Li, J., Chen, W.D., 2009. Modeling and control for a biped robot on uneven surfaces. Proc. 48th IEEE Conf. on Decision and Control, Jointly with the 28th Chinese Control Conf.,p.2960-2965.

[9]Morisawa, M., Kanehiro, F., Kaneko, K., et al., 2011. Reactive biped walking control for a collision of a swinging foot on uneven terrain. Proc. 11th IEEE-RAS Int. Conf. on Humanoid Robots, p.768-773.

[10]Nishiwaki, K., Kagami, S., 2007. Walking control on uneven terrain with short cycle pattern generation. Proc. 7th IEEE-RAS Int. Conf. on Humanoid Robots, p.447-453.

[11]Nishiwaki, K., Chestnutt, J., Kagami, S., 2012. Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor. Int. J. Robot. Res., 31(11):1251-1262.

[12]Sano, S., Yamada, M., Uchiyama, N., et al., 2008. Point-contact type foot with springs and posture control for biped walking on rough terrain. Proc. 10th IEEE Int. Workshop on Advanced Motion Control, p.480-485.

[13]Seven, U., Akbas, T., Fidan, K.C., et al., 2011. Humanoid robot walking control on inclined planes. Proc. IEEE Int. Conf. on Mechatronics, p.875-880.

[14]Shimizu, H., Wakazuki, Y., Pan, Y.D., et al., 2007. Biped walking robot using a stick on uneven ground. Proc. SICE Annual Conf., p.83-88.

[15]Vukobratović, M., Borovac, B., 2004. Zero-moment point—thirty-five years of its life. Int. J. Human. Robot., 1(1):157-173.

[16]Yamada, M., Maie, H., Maeno, Y., et al., 2010. Design of point-contact type foot with springs for biped robot. Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, p.806-811.

[17]Yi, Y., Lin, Z.Y., Yan, G.F., et al., 2015. A sustainable running criterion for biped balance control. Trans. Inst. Meas. Contr., in press.

Open peer comments: Debate/Discuss/Question/Opinion


Please provide your name, email address and a comment

Journal of Zhejiang University-SCIENCE, 38 Zheda Road, Hangzhou 310027, China
Tel: +86-571-87952783; E-mail: cjzhang@zju.edu.cn
Copyright © 2000 - 2024 Journal of Zhejiang University-SCIENCE