A Bio-inspired Behavior Based Bipedal Locomotion Control {--} {B4LC} Method for Bipedal Upslope Walking

Though over decades’ development of bipedal robots, the terrains that bipedal robots can walk remains limited compared to what human can accomplish. To increase bipedal transversality on upslope terrain, this paper studies the biomechanical and biological aspects of human walking on inclined slopes with underlying the motor skills and reexive systems. The control strategy can be divided into low and high gradient upslope walking. The strategy for the low gradient uphill walking is generated on the basis of an existing B4LC system. Furthermore, investigating the human walking on high gradient upslope terrain thoroughly unveils a new control strategy for bipedal walking on high gradient slope. Through validating the suggested method on a simulated biped upon dierent upslope terrains, the bipedal robot shows a naturally looking walking gait, achieving uphill walking up to 15 inclination which can compete with most advanced bipedal robots in the world.