Modeling and Simulation of Humanoid Stair Climbing
نویسندگان
چکیده
In this paper, a dynamic humanoid with a stair case model is designed to achieve a dynamically stable stair climbing gait pattern, and sequences of stair climbing locomotion analysis (weight acceptance, pull up, forward continuance, foot clearance and foot placement) are presented. A suitable trajectory control strategy is developed for the lower limb’s joints (hips, knees, ankles) during stair climbing, and the strategy is tested successfully in simulation. Climbing speed of 0.5m/s has been achieved.
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