关键词: 动态平衡, 上下楼梯, 双足机器人, 步态规划, 稳定性控制, 三次多项式拟合

Abstract:

Focusing on the walking stability of humanoid robot going up and down stairs, according to the restrains condition of the stairs, the gait for the biped robot climbing up and down stairs dynamically and the corresponding control policy for the biped robot walking stably were proposed. The gait planning method which kept the COM (Center of Mass) of the biped robot in the dynamic balance was proposed and the maximum displacement of the trunk was used to realize the stability of the biped robot in the lateral plane. Cubic polynomial fitting was used in the gait generation of the forward motion and gravity directions. In order to keep the motion stability of the biped robot in the frontal plane, the stairs information combining with the trunk posture angles and the corresponding angular velocity which were obtained from VG (Vertical Gyro), were used to adjust the COM position in the forward motion and the gravity directions. The validity of the proposed methods was verified by the simulations of the biped robot climbing up and down stairs dynamically.

Key words: stability control, cubic polynomial fitting, biped robot, dynamic balance, gait planning, walking up and down stairs