Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism
Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism
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DOI：
10.1109/iros.2005.1545500
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
Y. Sugahara;A. Ohta;K. Hashimoto;Hiroyuki Sunazuka;Masamiki Kawase;Chiaki Tanaka;Hun-ok Lim;A. Takanishi
中科院分区：
文献类型：
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作者：
Y. Sugahara;A. Ohta;K. Hashimoto;Hiroyuki Sunazuka;Masamiki Kawase;Chiaki Tanaka;Hun-ok Lim;A. Takanishi
本文介绍了一种采用Stewart平台的腿式机器人上下楼梯行走参数的整定方法。已经证实，可以通过调整腰部偏航轨迹和预设ZMP轨迹来减少冲程使用范围，以生成运动模式。通过使用所开发的方法，步行实验，涉及运动的上升和下降的楼梯与上升250毫米和一定的步行实验进行的人上升和下降的楼梯成功地完成。通过实验验证了该方法的有效性。
This paper describes the means of tuning-up method of the walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart platforms. It has been confirmed that the stroke range of use could be reduced by tuning up the waist yaw trajectory and preset ZMP trajectories for motion pattern generation. By using the developed method, a walking experiment involving movement up and down a stair with the rise of 250 mm and certain walking experiments ascending and descending stairs carrying a human were successfully completed. Through these experiments, the effectiveness of the proposed method was confirmed.