{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T12:07:34Z","timestamp":1757592454870,"version":"3.41.2"},"reference-count":25,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2016,5,16]],"date-time":"2016-05-16T00:00:00Z","timestamp":1463356800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2016,5,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Walking on inclined ground is an important ability for humanoid robots. In general, conventional strategies for walking on slopes lack technical analysis in, first, the waist posture with respect to actual robot and, second, the landing impact, which weakens the walking stability. The purpose of this paper is to propose a generic method for walking pattern generation considering these issues with the aim of enabling humanoid robot to walk dynamically on a slope.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, a virtual ground method (VGM) is proposed to give a continuous and intuitive zero-moment point (ZMP) on slopes. Then, the dynamic motion equations are derived based on 2D and 3D models, respectively, by using VGM. Furthermore, the waist posture with respect to the actual robot is analyzed. Finally, a reformative linear inverted pendulum (LIP) named the asymmetric linear inverted pendulum (ALIP) is proposed to achieve stable and dynamical walking in any direction on a slope with lower landing impact.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Simulations and experiments are carried out using the DRC-XT humanoid robot platform with the aim of verifying the validity and feasibility of these new methods. ALIP with consideration of waist posture is practical in extending the ability of walking on slopes for humanoid robots.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A generic method called ALIP for humanoid robots walking on slopes is proposed. ALIP is based on LIP and several changes, including model analysis, motion equations and ZMP functions, are discussed.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-09-2015-0170","type":"journal-article","created":{"date-parts":[[2016,5,24]],"date-time":"2016-05-24T11:34:06Z","timestamp":1464089646000},"page":"317-327","source":"Crossref","is-referenced-by-count":3,"title":["A generic walking pattern generation method for humanoid robot walking on the slopes"],"prefix":"10.1108","volume":"43","author":[{"given":"Fayong","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Mei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziyi","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianghai","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2020121523311672000_ref001","doi-asserted-by":"crossref","first-page":"377","DOI":"10.5772\/56766","article-title":"3-D biped robot walking along slope with Dual Length Linear Inverted Pendulum Method (DLLIPM)","volume":"10","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"3","key":"key2020121523311672000_ref002","doi-asserted-by":"crossref","first-page":"219","DOI":"10.1007\/s10514-005-4051-1","article-title":"Locomotion control of a biped robot using nonlinear oscillators","volume":"19","year":"2005","journal-title":"Autonomous Robots"},{"first-page":"381","article-title":"Blind walking of a planar bipedal robot on sloped terrain","year":"1999","key":"key2020121523311672000_ref004"},{"issue":"1","key":"key2020121523311672000_ref005","first-page":"49","article-title":"Vision-guided walking in a structured indoor scenario","volume":"46","year":"2005","journal-title":"Automatika"},{"issue":"1\/2","key":"key2020121523311672000_ref006","first-page":"67","article-title":"Trajectory generation for biped locomotion robot","volume":"10","year":"2000","journal-title":"Mechatronics"},{"first-page":"239","article-title":"The 3-D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation","year":"2001","key":"key2020121523311672000_ref008"},{"first-page":"1620","article-title":"Biped walking pattern generation by using preview control of zero-moment point","year":"2003","key":"key2020121523311672000_ref009"},{"first-page":"13","article-title":"Vision-guided humanoid footstep planning for dynamic environments","year":"2005","key":"key2020121523311672000_ref011"},{"first-page":"3989","article-title":"Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution","year":"2007","key":"key2020121523311672000_ref013"},{"first-page":"535","article-title":"Frequent walking pattern generation that directly uses estimated actual posture for robust walking control","year":"2009","key":"key2020121523311672000_ref014"},{"key":"key2020121523311672000_ref015","doi-asserted-by":"crossref","first-page":"1251","DOI":"10.1177\/0278364912455720","article-title":"Autonomous navigation of a humanoid robot over unknown rough terrain using a laser range sensor","volume":"31","year":"2012","journal-title":"International Journal of Robotics Research"},{"first-page":"129","article-title":"An approach to biped robot control according to surface condition of ground","year":"1998","key":"key2020121523311672000_ref016"},{"issue":"4","key":"key2020121523311672000_ref017","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1002\/(SICI)1097-4563(199704)14:4<283::AID-ROB5>3.0.CO;2-M","article-title":"Reinforcement learning for a biped robot to climb sloping surfaces","volume":"14","year":"1997","journal-title":"Journal of Robotic Systems"},{"issue":"2","key":"key2020121523311672000_ref018","doi-asserted-by":"crossref","first-page":"244","DOI":"10.1109\/3477.662765","article-title":"The motion control of a statically stable biped robot on an uneven floor","volume":"28","year":"1998","journal-title":"IEEE Transactions on System, Man, Cybernetics. 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