Dynamic Stair Walking of Biped Humanoid Robots

摘要

Biped humanoid robots are expected to move around human-centered setting that includes stairs as a major terrain. Reportedly, however, only few of them can walk up and down stairways as of now. Making it worse, even the successful ones carry out such motions either barely in terms of speed or fast enough but in an undisclosed technical manner. In this context, a dynamic gait pattern is proposed anew suitable for stair walks along with a transient pattern and verified by means of a multi-body dynamics analysis software.