Abstract
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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© 2006 Springer-Verlag Berlin Heidelberg
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Wang, L., Zhao, Y., Tokhi, M.O., Gharooni, S.C. (2006). Modeling and Simulation of Humanoid Stair Climbing. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_8
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DOI: https://doi.org/10.1007/3-540-26415-9_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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