Walking planning and control for a biped robot upstairs

The focus of this paper is the problem of walking stability control in humanoid robot going upstairs. Walking stability is a very important problem in the field of robotics. Lots of researches have been done to get stable walking on plane. But it is very limited on going upstairs. We first plan the gate of ankle and hip when going upstairs as well as the calculation of stable region and stability margin. Then the emergency-coping strategy of enlarging the support polygon is provided. At last, a control system which is proved to be effective by simulation is presented. If the ZMP is in the support polygon, this control system makes fine setting to gait to get higher stability. If the ZMP is out of the support polygon, the control system adjusts the location of ZMP through the emergency coping strategy.