【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.更多还原

【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.更多还原