{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,16]],"date-time":"2026-06-16T18:37:23Z","timestamp":1781635043042,"version":"3.54.5"},"reference-count":28,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T00:00:00Z","timestamp":1675987200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Leju Robotics Co., Ltd."}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Uneven terrain walking is hard to achieve for most child-size humanoid robots, as they are unable to accurately detect ground conditions. In order to reduce the demand for ground detection accuracy, a walking control framework based on centroidal momentum allocation is studied in this paper, enabling a child-size humanoid robot to walk on uneven terrain without using ground flatness information. The control framework consists of three controllers: momentum decreasing controller, posture controller, admittance controller. First, the momentum decreasing controller is used to quickly stabilize the robot after disturbance. Then, the posture controller restores the robot posture to adapt to the unknown terrain. Finally, the admittance controller aims to decrease contact impact and adapt the robot to the terrain. Note that the robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to calculate centroidal momentum and use force-sensitive resistors (FSR) on the robot foot to perform admittance control. None of these is a high-cost component. Experiments are conducted to test the proposed framework, including standing posture balancing, structured non-flat ground walking, and soft uneven terrain walking, with a speed of 2.8 s per step, showing the effectiveness of the momentum allocation method.<\/jats:p>","DOI":"10.3390\/s23042027","type":"journal-article","created":{"date-parts":[[2023,2,13]],"date-time":"2023-02-13T02:14:11Z","timestamp":1676254451000},"page":"2027","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Uneven Terrain Walking with Linear and Angular Momentum Allocation"],"prefix":"10.3390","volume":"23","author":[{"given":"Zhicheng","family":"He","sequence":"first","affiliation":[{"name":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Songhao","family":"Piao","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaokun","family":"Leng","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yucong","family":"Wu","sequence":"additional","affiliation":[{"name":"Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Department of Mechanical and Energy Engineering, Southern University of Science and Techology, Shenzhen 518055, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,10]]},"reference":[{"key":"ref_1","unstructured":"Choi, Y., You, B.J., and Oh, S.R. 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