中文摘要：

以SCUT-Ⅰ仿人机器人步态运动为对象,提出了由斜坡运动步长、步行周期等参数控制的斜坡运动模式,并基于倒立摆模型对斜坡运动过程中仿人机器人的髋关节和摆动腿踝关节的轨迹进行规划,从而得到斜坡运动的轨迹;最后,根据SCUT-Ⅰ仿人机器人模型参数,在Matlab 6.5中建立机器人的模型,对机器人斜坡运动进行仿真实验,验证了该规划方法的有效性及稳定性.

英文摘要：

Aiming at the gain planning of humanoid robot SCUT-I,a slope motion pattern controlled by step length,step period and some other walking parameters is designed.Then,the trajectories of the pelvis and the ankles are planned based on the inverted pendulum model to achieve the slope walking pattern.Moreover,according to the model parameters of SCUT-I,the robot is modeled and simulated through Matlab 6.5.Finally,some experiments are carried out to simulate the movement of the robot on slope,and the results verify the effectiveness and stability of the proposed gait planning method.