Multi-parameter optimization for humanoid robot climbing stairs

摘要

Humanoid robot has always been a popular field in robotics. Being able to walk stably in complex environments makes humanoid robots more advantageous. Stair is a common walking environment in human life, and the ability of climbing stairs is one of the basic function of humanoid robot. In this paper, the gait planning of humanoid robot climbing stairs is discussed. We use multi-objective genetic algorithm to optimize the key parameters of robot climbing stairs and simulation experiments are performed in Gazebo. The ideal gait parameters are obtained by genetic algorithm, so that the robot can walk stably and quickly.