Numerical simulation of the absolute gait of EP-WAR2 biped robot

In this paper the gait analysis of EP-WAR2 (Electro-Pneumatic-WAlking-Robot) biped robot prototype is proposed for walking and climbing stairs by formulating a suitable algorithm, which is useful to perform numerical simulations also with design purposes. The robot prototype of EP-WAR2 has been designed and built at LARM (Laboratory of Robotics and Mechatronics) in Cassino. Pneumatic cylinders, which are controlled by a PLC (Programmable-Logic-Controller), actuate EP-WAR2 in on/off environment, as a typical binary system. The proposed gait analysis gives numerical simulations of the walking on flat floors and climbing up stairs. Particular attention is addressed to determine and visualize the trajectory of the moving ankle joint of robot in the absolute gait with respect to the ground.