Aiming at the gain planning of SCUT-I humanoid robot, a stair motion pattern, controlled by step lengths, step period and other walking parameters, ...

Abstract. Aiming at the gain planning of SCUT-I humanoid robot, a stair motion pattern, controlled by step lengths, step period and other walking.

May 21, 2020 · To realize the stair-climbing task of the humanoid robot, it is necessary to accurately locate the stair, plan the gait of the humanoid robot ...

In this paper we consider the problem of generating a humanoid motion in a world of stairs, a specific kind of uneven ground consisting of horizontal patches ...

Jul 24, 2023 · Foot- step planning consists in finding both footstep placements and swing foot trajectories between them; overall, the footstep plan must be ...

Feb 20, 2025 · In this paper, a novel walking control framework combining the improved footstep planner and the whole-body coordination controller is proposed.

In [12] , for humanoid robots climbing stairs, this research demonstrates a gait planning and target location technique. The humanoid robot's target location ...

Nov 4, 2024 · This section of the paper presents a comprehensive evaluation of the developed algorithm for real-time planar semantic mapping of stairs for ...

Feb 20, 2019 · This video shows the progression of increasingly complex gait strategies from ATRIAS through recent results with Cassie.

Gait planning is essentially a cyclic motion pattern to produce locomotion in legged robots [1]. To make humanoids more human-like, they must be able to walk.