대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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이족 로봇의 계단 보행에 관한 연구

A Study on Stairs Walking of a Biped Robot

  • Oh, Jae-Joon (School of Electronic Engineering, Kyonggi Univ.) ;
  • Park, Sang-Su (School of Electronic Engineering, Kyonggi Univ.) ;
  • Choi, Yoon-Ho (School of Electronic Engineering, Kyonggi Univ.) ;
  • Park, Jin-Bae (Dept. of Electric and Electronic Engineering, Yonsei Univ.)
  • 발행 : 2007.07.18
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초록

This paper aims to generate the static walking pattern of a biped robot on stairs and to show the effectiveness of the proposed algorithm using its ankle and pelvis. Differently from the previous biped robots, our biped robot has the peculiar mechanism on its ankle and pelvis. By using this mechanism, we can reduce the load in the knee when a biped robot ascends the stairs. This means that a biped robot can climb up a higher step. The stairs walking trajectory that is separated into a ankle trajectory and a pelvis trajectory is generated by cubic spline interpolation. Finally, we confirm the feasibility of the proposed algorithm through the computer simulation and the real walking experiment.

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