Gait Synthesis and Sensory Control of Stair Climbing for a Humanoid Robot

Volume: 55, Issue: 5, Pages: 2111 - 2120
Published: Apr 30, 2008
Abstract
Stable and robust walking in various environments is one of the most important abilities for a humanoid robot. This paper addresses walking pattern synthesis and sensory feedback control for humanoid stair climbing. The proposed stair-climbing gait is formulated to satisfy the environmental constraint, the kinematic constraint, and the stability constraint; the selection of the gait parameters is formulated as a constrained nonlinear...
Paper Details
Title
Gait Synthesis and Sensory Control of Stair Climbing for a Humanoid Robot
Published Date
Apr 30, 2008
Volume
55
Issue
5
Pages
2111 - 2120
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