IMPACTLESS BIPED WALKING ON STAIRS

A motion/force control scheme was proposed to investigate biped impactless walking, which has proven to be used effectively to achieve stable walking on slopes. This paper aims to investigate the efficiency of walking stairs. Good trajectory generation and effective control method are important for operating and ensuring the stability of biped walking on stairs. Walking is illustrated by a seven-link biped with six control actuators, the number of which always equals to that of motion and force specifications. In order to avoid impacts, the specified motion of the biped and its ground reactions are controlled Control torques, ground reaction forces and consumption energy of the biped lower limb joints are calculated for ascending stairs, walking on fiat terrain and descending stairs. Three different locomotion velocities are studied in order to compare the energetic performance of the biped walking up-and-down stairs.