Gait Generation And Parameters Optimization Of Bipedal Robot Climbing Upstairs

Having strong ability of adapting to various walking environment is an importantperformance for biped robot, it’s also an advantage of the bipedal robot compared towheeled robot. The stairs are common walking environment in the human living space, sohaving the ability to climb upstairs must be a basic function for bipedal robot. Comparewith level ground, gait generation of bipedal robot climbing upstairs is more difficult. Tosolve this problem, the following aspects of work have been done in this paper.Firstly, this paper reviews the bipedal robot’s history and research status, summarizesthe gait planning method including ground walking and climbing upstairs, introduces themain contents and the Sources of funds of this research.Secondly, the scale and structure of a bipedal robot have been designed by the way ofimitating human body structure. Structural design includes three parts: mechanism design,drive mode choice and controller choice.Thirdly, a new gait planning method of climbing stairs has been present. Comparedwith the traditional planning method, this paper proposes the use of variable-length invertedpendulum to plan climbing stairs gait. Start gait, steady gait, stop gait in Forward and lateralplane have been planned respectively.Fourthly, Virtual prototype simulation system has been established using ADAMS andMATALB. Through this simulation system, the reasonable and effective of this planningmethod has been verified.Finally, this paper sets Stability and energy efficiency as the optimization objective,genetic algorithm has been used to optimization parameters.