Dynamically Balanced Ascending Gait Generation of a Biped Robot Negotiating Staircase

Dynamically balanced staircase ascending gait generation problem of a 11-DOF biped robot has been solved utilizing an analytical approach. The swing foot and hip joint are assumed to follow cubic polynomial and straight line trajectories, respectively. The lower limbs´ gaits have been generated based on the concept of inverse kinematics and the trunk motion is decided based on static balance. The generated gait is verified for its dynamic balance. Lagrange-Euler method of solving the dynamics has been utilized to determine the torque requirement and power consumption at various joints. The performance of the developed approach has been tested through computer simulations.