This paper proposes a system for stable ladder climbing of the human-sized four-limbed robot “WAREC-1”, including the following 3 components: (a) Whole-body motion planning; (b) Rung recognition system and (c) Reaction force adjustment. These 3 components guarantee appropriate ladder climbing motion, successful rung grub and proper reaction force distribution at contact points throughout the climbing motion, respectively. With this system, (1) Stable ladder climbing in 2-point contact gait by a human-sized robot and (2) Successful and stable climbing of an irregular ladder (with a higher or inclined rung) in both 3-point and 2-point contact gait with the capability of recognizing the target rung and the corresponding motion planning are realized, which have rarely been realized by former studies. Finally, experiment results and data of the robot ladder climbing are also presented to evaluate the proposed system.

本文提出了一种人形四肢机器人“WAREC-1”的稳定爬梯系统，包括以下3个部分：(a)全身运动规划；(b) 梯级识别系统和 (c) 反作用力调整。这 3 个组件分别保证了适当的爬梯运动、成功的梯级摩擦和在整个攀爬运动的接触点处适当的反作用力分布。使用该系统，(1) 人型机器人以 2 点接触步态稳定爬梯；(2) 3 点和 2 点成功稳定爬不规则梯子（具有更高或倾斜的梯级）实现了具有识别目标横档和相应运动规划能力的点接触步态，这在以往的研究中很少实现。最后，