关键词: 步态分析, 仿生机器人, 模块化机器人, 攀爬机器人

Abstract: A novel biped robot with both climbing and manipulation functions is proposed for dangerous high-altitude operation in new potential fields of robotic applications such as agriculture, forestry, and construction. The structure of 5 degrees of freedom is presented for this robot, and the feasibility of the robot transiting between two cylindrical poles in any orientations is proved. Three climbing gaits are proposed and analyzed. The joint torque and energy consumption of the robot when it climbs poles in various orientations are calculated and compared in the simulation with the software tool ADAMS. The results are significant for gait planning with such biped climbing robots.

Key words: Biomimetic robot, Climbing robot, Gait analysis, Modular robot