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应用科学学报 ›› 2003, Vol. 21 ›› Issue (1): 63-67.

• 论文 • 上一篇    下一篇

双足机器人上楼梯步态规划的复现性要求

柯显信, 龚振邦, 吴家麒   

  1. 上海大学机电工程与自动化学院特种机器人研究室 上海 200072
  • 收稿日期:2001-12-18 修回日期:2002-04-19 出版日期:2003-03-10 发布日期:2003-03-10
  • 作者简介:柯显信(1973-),男,安徽庐江人,博士生;龚振邦(1942-),男,上海人,教授,博导

Restrictions on a Realizable Gait of a Biped Robot Climbing Upstairs

KE Xian-xin, GONG Zhen-bang, WU Jia-qi   

  1. Special Robot Lab, School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China
  • Received:2001-12-18 Revised:2002-04-19 Online:2003-03-10 Published:2003-03-10

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83

被引次数

5

摘要： 将双足机器人上楼梯的步态规划问题分解为脚踝运动轨迹和臀部运动轨迹的规划问题.通过机器人实现稳定行走的动力学分析和上楼梯的步态规划的几何约束分析,得到规划步态的可复现性的约束条件.

关键词: 步态规划, 双足机器人, 上楼梯, 复现性

Abstract: The gait of a biped robot climbing stairs consists of foot trajectory and hip trajectory. Through analyzing the dynamical restrictions on stable walking and the geometry restrictions on the gait of a robot climbing stairs, the restrictions on a realizable gait of a robot climbing stairs were obtained. The simulations of climbing upstairs gait were presented.

Key words: biped robot, realizable, gait planning, climbing upstairs

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