Gait Planning and Control of a Biped Robot Climbing Upstairs

In order to get a bipedal robot climb upstairs stably,its gait should be planed appropriately,and be controlled stably.The gait was planned by geometric constraint method,and the ankle's trajectory was fitted with cycloid;then a fuzzy controller was designed to adjust the roll's angle of ankle,which made the ZMP closed to the center of support region,and ensured the stable walking of bipedal;finally a virtual prototype was built in ADAMS,and realized the action of stably climbing upstairs by the coordinated simulation with Matlab.The simulation results verified the effectiveness of the gait of climbing upstairs and the fuzzy controller.