Humanoid Robot Slope Gait Planning Based on Zero Moment Point Principle

This paper is based on the robot model NCEPU-I. With this model, we proposed a robot slope walking gait method based on improved algorithm of inverse kinematics. With the bar linkage model, the humanoid robot slope gait could be planned by hips and swing leg ankle trajectory planning and then the slope gait planning can be achieved. This method can achieve and apply to different angles with high efficiency. Finally, after mathematical modeling and simulating by MATLAB and ADAMS, the simulation results verify the correctness and applicability of gait planning.