期刊名称：International Journal on Electrical Engineering and Informatics
印刷版ISSN：2085-6830
出版年度：2019
卷号：11
期号：3
页码：527-547
DOI：10.15676/ijeei.2019.11.3.6
出版社：School of Electrical Engineering and Informatics
摘要：The ability of a biped robot to run on various types of floors and slopes can be anadditional guarantee that the robot is capable of performing various tasks as can be done byhumans. This paper is the result of a study on a bipedal robot that only consists of a body andtwo legs with two feet to use the ankle-hip and time delay strategy to anticipate the effects of theslope of the floor during walking. The result of the research is the robot could adapt the changeof slope up to 12 degrees while walking with so that it can keep the balance and does not fall.The hip and ankle strategies are applied together on the inclined floor by dividing the slopeimpact on the hip and ankle joint to a certain ratio, while the time delay strategy is done whenthe robot walks on a sloping surface to increase the binding power of the foot to the floor.
