Realization of Dynamic Stair Climbing for Biped Humanoid Robot Using Force/Torque Sensors

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This paper proposes a control algorithm for the dynamic stair climbing of a human-sized biped humanoid robot. Dynamic stair climbing can cause more instability than dynamic biped walking on the ground because stair climbing requires an additional vertical motions and a large step length. We assume that stair configuration is already known and only use force/torque sensors at ankle joint to achieve a control algorithm for a stable dynamic stair climbing. We describe a stair climbing pattern generation and stair climbing stages, and then propose a real-time balance control algorithm which is composed of several online controllers. Each online controller is addressed in detail with experimental results. Finally, the effectiveness and performance of the proposed control algorithm are verified through a dynamic stair climbing experiment of KHR-2.
Publisher
SPRINGER
Issue Date
2009-11
Language
English
Article Type
Article
Keywords

DESCENDING STAIRS

Citation

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.56, no.4, pp.389 - 423

ISSN
0921-0296
DOI
10.1007/s10846-009-9324-z
URI
http://hdl.handle.net/10203/98980
Appears in Collection
ME-Journal Papers(저널논문)
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