仿人机器人上楼梯行走稳定性研究.pdfVIP

ComputerEngineeringandApplications计算机工程与应用 201， _l篓 仿人机器人上楼梯行走稳定性研究 肖 乐，李明杰 XIAOLe，LIMing—jie 常熟理工学院 计算机科学与工程学院，江苏 常熟 215500 School。fComputerScienceandEngineering，Changshu InstituteofTechnology，Changshu，Jiangsu 215500，China E—mail：xiaole66@126．conl XIAO Le．LIMing-jie．Researchonwalkingstabilityofhumanoidrobotupstairs．ComputerEngineeringandApplications， 2010．46(3)：195—197． Abstract：Thefocusistheproblem ofwalkingstability in humanoid robotgoingupstairs．Gaitplanning ofahumanoid robotgo— ing upstairsand thearea ofstable region and stability margin