中文摘要：

探讨一种新型双手爪式5自由度仿生攀爬机器人（Climbot）的摇杆控制方法．首先，对机器人的运动学和可夹持空间问题进行了分析．然后，针对其双手爪交替夹持攀爬的特点，提出了直观的摇杆操作模式，包括对不同的攀爬步态设计了不同的操作坐标系，并利用建立变换矩阵的方法将交替夹持端前后的机器人描述在同一坐标系中．最后，通过尺蠖、扭转和翻转3种步态的路灯杆攀爬和应用示范实验结果证明了该摇杆控制方法的有效性．

英文摘要：

A joystick-based control method is studied for Climbot, which is a novel 5-DoF （degree of freedom） biomimetic biped climbing robot. The kinematics and the available grasping area of the robot are analyzed firstly. And then, according to the characteristics of the robot biped climbing by switching its fixed-gripper, an intuitional joystick-based operating mode is proposed, in which different operating coordinates are defined for corresponding climbing gaits, and a matrix transform algorithm is presented to keep the robot coordinate system unchanging after switching its fixed-gripper. Finally, road-pole climbing experiments with three gaits （including inchworm-like, turning-around and turning-over gaits） and an application demonstration are carried out to verify the effectiveness of the presented joystick-based control method.