Abstract Aiming at the gain planning of SCUT-I humanoid robot, a stair motion pattern, controlled by step lengths, step period and other walking parameters, is designed. And stair restrict condition is described. According to the parameters and restrict equations, hip and ankle trajectories are planned based on IPM (inverted pendulum model). Finally, according to the model parameters of SCUT-I robot, the robot model is built and simulated by matlab6.5, which verifies the effectiveness and stability of this stairs walking gait generation method.
Gait Planning of Humanoid Robots Walking on Stairs
2011-01-01
9 pages
Article/Chapter (Book)
Electronic Resource
English
Gait Planning of Humanoid Robots Walking on Stairs
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