基于红外测深的六足机器人爬楼梯策略

Stair Climbing Strategy of Hexapod Robot Based on Infrared Sounding

足式机器人越障一直是足式机器人的一个研究重点,而楼梯是常见的障碍物。本文提出一种基于红外测深的六足机器人楼梯攀爬策略。该策略将楼梯分为两类,并针对这两种楼梯设计不同的爬楼梯步态。为了验证策略的正确性,搭建了多组楼梯,在真实环境下进行了物理实验。实验结果表明,该策略具有较好的正确性和普适性。

Obstacle-surmounting by footed robots has always been a research focus of footed robots,and stairs are a common obstacle.A stair climbing strategy for hexapod robot based on infrared sounding is proposed in this paper.The strategy divides stairs into two categories and designs different stair-climbing gaits for these two types of stairs.In order to verify the correctness of the strategy,several sets of stairs were built,and physical experiments were carried out in real environments.The experimental results show that the strategy has good correctness and universality.