Humanoid Landing Control on Uneven Terrain

This paper presents a control method for humanoid biped landing on uneven terrain. Based on description of landing control problem, the landing course is analyzed. Then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, an active compliant theorem based fuzzy controller is designed by incorporating human landing experience, and an equivalent single point based contact control is implemented. Combined with online motion planning, application of the proposed landing control method is addressed. Finally, simulation results of "Virtual Blackmann" walking on uneven terrain are shown to validate the effectiveness of the proposed method.