Gait planning of concave transitions between different slopes for bipedal wall-climbing robots

Abstract

In order to solve the gait planning issue in wall transitions for bipedal wall-climbing robots fitted with vacuum suction cups, a gait model based on finite state machine was established after deep analysis of the robot’s gait. On this basis, an on-line gait planning algorithm for concave transitions was proposed based on weighted interpolation and BP neural networks. This lays a foundation for improving the ability of robots to transit complex walls under automatic control. Simulations and experiments show that the on-line gait planning algorithm can successfully help wall-climbing robots complete a concave transition.