1. Beijing University of Civil Engineering and Architecture, No.1 Zhanlanguan Road. XiCheng District, Beijing, China. , Beijing China 100044
2. No.1 Zhanlanguan Road. XiCheng District, Beijing, China. , Beijing China 100044
3. The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku,Tokyo, JAPAN. , Tokyo Japan 113-0033
4. No. 95 Zhongguancun East Road, Haidian District, Beijing , Beijing China 100190
In this paper, we propose a method for humanoid robot Nao in the task of climbing stairs which locates the position of stairs and plans the gait of climbing stairs. The skill of climbing stairs is a necessary ability for humanoid robots to achieve basic intelligence and adapt to the human living environment. The stair position is located using landmarks based on a neural network fitting method. The gait of climbing stairs is divided into the trajectories of COG and ankle joint, which based on the static walking method. To control the movement of the humanoid robot in real-time, we built a remote control platform and developed a control algorithm of motion. The proposed method increases the accuracy of target positioning and makes the humanoid robot Nao climb the stairs of 2.94 cm steps successfully in experiments.
National Natural Science Foundation of China (Grant No. 61473027)
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