| 双足机器人上楼梯步态规划的复现性要求 |
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| 引用本文： | 柯显信,龚振邦,吴家麒.双足机器人上楼梯步态规划的复现性要求[J].应用科学学报,2003,21(1):63-67. |
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| 作者姓名： | 柯显信 龚振邦 吴家麒 |
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| 作者单位： | 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 |
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| 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.
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| 关 键 词： | 步态规划 双足机器人 上楼梯 复现性 |
| 文章编号： | 0255-8297(2003)01-0063-05 |
| 收稿时间： | 2001-12-18 |
| 修稿时间： | 2002-04-19 |
Restrictions on a Realizable Gait of a Biped Robot Climbing Upstairs |
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| KE Xian-xin,GONG Zhen-bang,WU Jia-qi.Restrictions on a Realizable Gait of a Biped Robot Climbing Upstairs[J].Journal of Applied Sciences,2003,21(1):63-67. |
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| Authors: | KE Xian-xin GONG Zhen-bang WU Jia-qi |
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| Institution: | Special Robot Lab, School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China |
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| 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. |
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| Keywords: | biped robot gait planning climbing upstairs realizable |
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