Footstep Planner Algorithm for a Lower Limb Exoskeleton Climbing Stairs

In this paper, a footstep planning algorithm for a lower limb exoskeleton climbing stairs is presented. The algorithm relies on having a height map of the environment, and uses two procedures: partial decomposition of the supporting surface into convex obstacle-free regions, and optimization of the foot step position implemented as a quadratic program. These two methods are discussed in detail in the paper, and the simulation results are shown. It is demonstrated that the algorithm works for different staircases, and even for the staircases with obstacles on them.

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