仿人机器人站立到爬梯子转换动作的研究与实现

研究了由平地到竖直梯子变环境边界条件下，仿人机器人由站立到爬梯子的动作转换.为提高机器人上梯子过程的稳定性，机器人首先双手抓握住梯子横档作为辅助支撑，在机器人向梯子行走过程中，通过检测双手与梯子横档的接触力大小来调整仿人机器人身体重心相对于支撑脚的位置，从而保持身体的平衡.实验结果证明:该控制策略可有效避免因环境参数误差，外力干扰，以及机器人关节初始角度误差等引起的机器人跌倒问题，从而保证机器人由站立到爬梯子转换动作的顺利进行.

Study and Realization of Transition Motion from Biped Standing to Ladder Climbing for a Humanoid Robot〓

The transition motion from biped standing to ladder climbing was investigated with a humanoid robot under the changed environmental boundary condition. To improve the stability in the process of ladder climbing motion， the robot catches the rung firstly， and then adjusts the location of body with respect to the supporting foot based on the reaction forces between the rung and robot hands. Finally， the balance of robot body was maintained in the proposed transition motion. Experimental results prove that the proposed control strategy can prevent the falling accident， which may be caused by environmental parameter errors， external force disturbances， initial joint angle errors， and so on. It is effective to guarantee the transition motion of robot from biped standing to ladder climbing smoothly and successfully.