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

Humanoid Robot Research Laboratory, School of Mechanical Design and Automation Engineering, Seoul National University of Technology, 138 Gongrung-Gil, Nowon-gu, Seoul 139-743, South Korea

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ILL-WOO PARK

Department of Information and Control Engineering, Kwangwoon University, 447-1, Wolgye-dong, Nowon-gu, Seoul 139-70, South Korea

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JUN-HO OH

HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea

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https://doi.org/10.1142/S0219843609001723Cited by:7 (Source: Crossref)

Abstract

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.

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