Paper Info
Title
Experimental Realization Of Dynamic Stair Climbing And Descending Of Biped Humanoid Robot, Hubo
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.
Year
DOI
Venue
2009
10.1142/S0219843609001723
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Keywords
DocType
Volume
Dynamic walking, stair climbing, stair descending, biped humanoid robot, HUBO
Journal
6
Issue
ISSN
Citations 
2
0219-8436
4
PageRank 
References 
Authors
0.49
12
3
Name
Order
Citations
PageRank
Jung-yup Kim150741.82
Ill-woo Park244831.14
Oh Jun-ho325621.68