Gait planning and control method for humanoid robot using improved target positioning
Zhang, Lei; Zhang, Huayan; Xiao, Ning; Zhang, Tianwei; Bian, Gui-Bin
Sci China Inf Sci, 2020, 63(7): 170210
Humanoid robots have similar motion characteristics to humans and can be directly applied to human living space without modifying the existing environment. This characteristic makes the ability of humanoid robots to adapt to the human living environment better than non-humanoid robots such as wheeled robots. For example, it is difficult for wheeled robots to climb stairs, but humanoid robots can achieve this task through gait planning. For humanoid robots, it is important to maintain the stability of the humanoid robot while climbing stairs. Besides, the method of locating the position of the stairs is necessary. To realize the stair-climbing task of the humanoid robot, it is necessary to accurately locate the stair, plan the gait of the humanoid robot climbing stairs, and control the movement of the humanoid robot in real-time through the control system.