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.
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© 2011 Springer-Verlag Berlin Heidelberg
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Sheng, B. et al. (2011). Gait Planning of Humanoid Robots Walking on Stairs. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_4
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DOI: https://doi.org/10.1007/978-3-642-23147-6_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23146-9
Online ISBN: 978-3-642-23147-6
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