@inproceedings{4d0635ea303949cca5fabf3fd228126c,
title = "Walking control method of biped locomotors on inclined plane",
abstract = "This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No-16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.",
keywords = "Bipedal locomotor, Inclined plane, Posture control, Virtual compliance control",
author = "Yusuke Sugahara and Yutaka Mikuriya and Kenji Hashimoto and Takuya Hosobata and Hiroyuki Sunazuka and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",
year = "2005",
doi = "10.1109/ROBOT.2005.1570403",
language = "English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1977--1982",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",
}