EXPERIMENTAL REALIZATION OF DYNAMIC STAIR CLIMBING AND DESCENDING OF BIPED HUMANOID ROBOT, HUBO

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In this paper, dynamic stair climbing and descending are experimentally realized for a biped humanoid robot, HUBO. Currently, in addition to biped walking on the ground, other types of biped walking such as running, jogging, and stair walking (climbing and descending) have been also studied since the end of 1990. In spite of many years of research works on stair walking, it is still a challengeable topic that requires high performance of control technique. For dynamic stair walking, we designed stair climbing and descending patterns according to a known stair configuration. Next, we defined stair climbing and descending stages for a switching control strategy. In each stage, we designed and adopted several online controllers to maintain the balance. For the simplicity and easy application, the online controllers only use the force and torque signals of the force/torque sensors of the feet. Finally, the effectiveness and performance of the proposed strategy are verified through stair climbing and descending experiments of HUBO.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2009-06
Language
English
Article Type
Article
Keywords

ZERO-MOMENT POINT; WALKING

Citation

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.6, no.2, pp.205 - 240

ISSN
0219-8436
DOI
10.1142/S0219843609001723
URI
http://hdl.handle.net/10203/99222
Appears in Collection
ME-Journal Papers(저널논문)
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