Target Location and Gait Planning for Humanoid Robot Climbing Stairs

摘要

Climbing stairs is an important ability for humanoid robots. This paper proposes a target location and gait planning method for humanoid robot climbing stairs. Target location enables the humanoid robot to accurately locate the stair position, and the gait planning algorithm makes the humanoid robot to climb the stairs. In order to enable the humanoid robot to climb multiple stairs, this paper proposes control strategy of motion for humanoid robot. The effectiveness of our proposed method was confirmed by experiments. The experimental results show that this method improves the accuracy of target location, and enables the humanoid robot Nao to climb a staircase with 2.928 cm steps.