Motion Planning of Biped Robot Climbing Stairs

The motion control of a biped robot that can climb up and down stairs is studied in this work. The algorithm generates walking patterns with desired stable margin and walking speed. Only the approximate stair height and width are required. This algorithm derives the optimal hip height and uses cubic polynomial to generate the hip and foot trajectory. The control of initial and final speeds in a walking cycle makes continuous dynamic walking up and down stairs possible. Simulation shows that this algorithm can successfully achieve dynamic walking up or down stairs. The RoboSapien, a 12 DOF biped robot is built to apply and verify the walking algorithm.