[1]WANG Hong-guang,JIANG Yong,FANG Li-jin,et al.Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots[J].CAAI Transactions on Intelligent Systems,2007,2(4):40-45.
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Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 2 Number of periods: 2007 4 Page number: 40-45 Column: 学术论文—人工智能基础 Public date: 2007-08-25
Title:
Gait planning of concave transitions between differentslopes for bipedal wallclimbing robots
Author(s):
WANG Hong-guang1; 2; JIANG Yong1; 2; FANG Li-jin1 ; ZHAO Ming-yang1
1.Robotics Laboratory, Shenyang Institute of Automation, Chine se Academy of Sciences, Shenyang 110016, China;
2.Graduate School,Ch inese Academy of Sciences, Beijing 100049, China
Keywords:
bipedal wallclimbing robot;  finite state machine;  concave transi tion;  gait planning
CLC:
TP24
DOI:
-
Abstract:
In order to solve the gait planning issue in wall transitions for bipe dal wallclimbing robots fitted with vacuum suction cups, a gait model based on finite state machine was established after deep analysis of the robot’s gait. O n this basis, an online gait planning algorithm for concave transitions was pr o posed based on weighted interpolation and BP neural networks. This lays a founda tion for improving the ability of robots to transit complex walls under automati c control. Simulations and experiments show that the online gait planning al g orithm can successfully help wallclimbing robots complete a concave transition .
References:
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