Humanoid stair climbing robot and control method thereof

Abstract

The invention discloses a humanoid stair climbing robot and a control method thereof, and relates to a robot and a control method thereof. The robot comprises a humanoid robot body, a control system and a power supply system; the control system involves binocular cameras, a central processing unit and a driving unit; and the binocular cameras are arranged in two eyes of a robot head system, and the output ends of the binocular cameras are connected with the input end of the central processing unit. The method is characterized in that the height of a staircase is recognized through the binocular cameras, then the gravity center moves leftwards, a right leg is lifted to be placed on an upper step, then the gravity center moves rightwards, a left leg is lifted to be placed on the same step, then the gravity center moves rightwards, the left leg is lifted to be placed on an upper step, and then the gravity center moves leftwards, and the right leg is lifted to be placed on the same step, so that circulation is formed, and a stair climbing function is achieved by simulating the human stair climbing gait. According to the robot and the method, the automatic stair climbing function of a humanoid robot can be achieved, the flexibility is good, the intelligent degree is high, the structure is simple, the cost is low and the usage and popularization are easy.

Description

technical field

[0001] The invention relates to a robot and a control method thereof, in particular to a humanoid stair-climbing robot and a control method thereof. Background technique

[0002] There are various forms of existing stair-climbing robots, such as crawler type, multi-legged type, humanoid type, wheel type, etc. The crawler type, multi-legged type, and wheel type are relatively large in shape, and the stairs are not flexible enough. The model can rarely climb stairs, and it is not human enough, and humanoid humanoid robots have not yet been discovered.

[0003] The invention patent with authorized notification number CN104760630B discloses a stair-climbing robot with humanoid gait. Although it is a humanoid gait, it is not biped, but consists of four feet with the same structure. The flexibility is not good enough, and It's just gait analysis, and it doesn't realize the effect of the whole humanoid robot climbing stairs. Contents of the invention

[0004] Th...

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