Climbing of Stairs of an Autonomous, Bipedal Robot

Abstract This paper deals with the climbing of stairs of a bipedal robot. First a short overview about the structure of the realized robot BARt-UH is given. Then an optimization mechanism based on nonlinear programming is derived for path planning for the climbing of stairs. Statically stable movements are considered and dynamic stability is analyzed using the well known concept of the zero moment point (ZMP). Since the robot does not possess a trunk, the legs are responsible for adequate motion with respect to the ground conditions as well as stability. The paper ends with the results based on simulations and the real robot.

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