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<p>The recent decades have witnessed several developments in humanoid robotics, particularly concerning the robot's ability to negotiate difficult terrains such as uneven and inclined surfaces. The application of a 3D-Multilinked Dual Spring-Loaded Inverted Pendulum Model (3D-MDSLIP) for two-legged&#xa0;humanoid robot route optimisation on incline terrain is suggested in this research. It introduces intensified reliability and mobility on unstructured grounds by implementing a novel way for generating and stepping through trajectories. This framework's ability to replicate the dynamic behavior of humanoid robots while moving around is enhanced by the addition of two spring-loaded legs. Furthermore, additional linkages can be included in the 3D-MDSLIP design to depict various body sections of the robot, including the torso. Because the suggested framework considers the impact of gravity and friction on the robot's motion, it is especially appropriate for footstep prediction on a variety of terrain. This makes it possible to generate footstep paths that are more precise and stable&#xa0;that can greatly enhance the robot's capability to traverse sloping terrain. Initially, the framework's effectiveness will be assessed and its variables optimized within a simulated scenario. Next, it will be verified by contrasting the outcome in an actual situation in a real-time scenario.</p> Graphical Abstract <p></p>

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Path optimization of biped humanoid robot on inclined surface employing 3D-MDSLIP framework

  • 期刊论文

  • 发表日期：

    2025年10月2日

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  • Abhishek Kumar Kashyap,
  • Dayal R. Parhi

摘要

The recent decades have witnessed several developments in humanoid robotics, particularly concerning the robot's ability to negotiate difficult terrains such as uneven and inclined surfaces. The application of a 3D-Multilinked Dual Spring-Loaded Inverted Pendulum Model (3D-MDSLIP) for two-legged humanoid robot route optimisation on incline terrain is suggested in this research. It introduces intensified reliability and mobility on unstructured grounds by implementing a novel way for generating and stepping through trajectories. This framework's ability to replicate the dynamic behavior of humanoid robots while moving around is enhanced by the addition of two spring-loaded legs. Furthermore, additional linkages can be included in the 3D-MDSLIP design to depict various body sections of the robot, including the torso. Because the suggested framework considers the impact of gravity and friction on the robot's motion, it is especially appropriate for footstep prediction on a variety of terrain. This makes it possible to generate footstep paths that are more precise and stable that can greatly enhance the robot's capability to traverse sloping terrain. Initially, the framework's effectiveness will be assessed and its variables optimized within a simulated scenario. Next, it will be verified by contrasting the outcome in an actual situation in a real-time scenario.

Graphical Abstract