Journal of South China University of Technology (Natural Science Edition) ›› 2010, Vol. 38 ›› Issue (11): 148-154,160.doi: 10.3969/j.issn.1000-565X.2010.11.026

• Computer Science & Technology • Previous Articles     Next Articles

Gait Planning of Humanoid Robots Walking on Slope

Bi Sheng1  Min Hua-qing2  Chen Qiang1  Zhuang Zhong-jie1  Liu Qi-feng1   

  1. 1.School of Computer Science and Engineering,South China University of Technology,Guangzhou 510006,Guangdong,China;2.School of Software,South China University of Technology,Guangzhou 510006,Guangdong,China
  • Received:2010-03-26 Revised:2010-06-23 Online:2010-11-25 Published:2010-11-25
  • Contact: 毕盛（1978-），男，博士生，讲师，主要从事仿人机器人研究． E-mail:picy@scut．edu．cn
  • About author:毕盛（1978-），男，博士生，讲师，主要从事仿人机器人研究．
  • Supported by:

    国家自然科学基金资助项目（60873078）; 广州市科技计划项目（2009KP008）; 深圳市科技计划项目（JC200903180740A）

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Abstract:

Aiming at the gain planning of humanoid robot SCUT-I,a slope motion pattern controlled by step length,step period and some other walking parameters is designed.Then,the trajectories of the pelvis and the ankles are planned based on the inverted pendulum model to achieve the slope walking pattern.Moreover,according to the model parameters of SCUT-I,the robot is modeled and simulated through Matlab 6.5.Finally,some experiments are carried out to simulate the movement of the robot on slope,and the results verify the effectiveness and stability of the proposed gait planning method.

Key words: humanoid robot, gait planning, slope movement