基于变长倒立摆模型的双足机器人爬楼梯步态规划

Gait Generation Based on Variable-length Pendulum for a Biped Robot Climbing Upstairs

能在复杂环境中持续稳定地行走是双足机器人的一个重要性能,比如平地、楼梯.针对双足机器人爬楼梯的步态规划问题,提出了一种运用变长倒立摆模型来实现双足机器人爬楼梯步态规划的方法,并运用虚拟样机进行动态步行仿真.仿真结果表明,运用该步态规划方法可以得到可行的机器人爬楼梯轨迹.

One of primary importance in a humanoid robot is stable and robust walking in various environments,such as level ground and stairs.Compare with level ground,trajectory generation for a biped robot walking upstairs is more difficult.To solve the problem,this paper presents an effective and systematic trajectory generation method.Virtual prototyping simulation results show that the proposed methods can generate stable motions when walking upstairs.