Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot

四足机器人在室内灭火中的自适应爬楼梯训练与仿真：一种端到端强化学习方法

Training and Simulation of Quadrupedal Robot in Adaptive Stair Climbing and Descending for Indoor Firefighting: An End-to-End Reinforcement Learning Approach

本研究提出一种两阶段端到端强化学习方法，用于四足机器人在复杂室内环境中适应不同楼梯形状的爬行任务。

一种用于杂乱楼梯估计与地面分割的贝叶斯建模框架

A Bayesian Modeling Framework for Estimation and Ground Segmentation of Cluttered Staircases

针对复杂环境下机器人楼梯感知易受遮挡、杂物干扰的问题，提出融合无限宽度楼梯表示与有限端点状态的贝叶斯推理框架及配套分割算法，提升楼梯估计与无杂区分割性能。

Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In particular, we extend walkingstabilization based on linear inverted pendulum tracking by quadratic programming-based wrench distribution and a whole-body admittance controller that applies both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other, our experience suggests that the combination of these two approac…

学习可迁移性：一种两阶段强化学习方法以提升四足机器人在U形台阶攀爬中的性能

Learning Transferability: A Two-Stage Reinforcement Learning Approach for Enhancing Quadruped Robots' Performance in U-Shaped Stair Climbing

本研究提出一种两阶段强化学习方法，通过训练四足机器人在U形台阶上攀爬，提升其在不同台阶地形中的可迁移性和自主攀爬能力。

PolygMap：用于人形机器人爬楼梯的感知式运动框架

PolygMap: A Perceptive Locomotion Framework for Humanoid Robot Stair Climbing

本文提出PolygMap框架，通过多传感器融合构建多边形楼梯平面语义地图，在NVIDIA Orin上实现20-30Hz全身运动规划，经真实场景实验验证可高效鲁棒地完成人形机器人爬楼梯任务。

Cycloidal Trajectory Realization on Staircase based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD) with Ant Colony Optimization for a 9-Link Bipedal Robot

In this paper, a novel optimal technique for joint angles trajectory tracking control with energy optimization for a biped robot with toe foot is proposed. For the task of climbing stairs by a 9-link biped model, a cycloid trajectory for swing phase is proposed in such a way that the cycloid variables depend on the staircase dimensions. Zero Moment Point(ZMP) criteria is taken for satisfying stability constraint. This paper mainly can be divided into 3 steps: 1) Planning stable cycloid trajectory for initial step and subsequent step for climbing upstairs and Inverse Kinematics using an unsuper…