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

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.