Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism

This paper describes the means of tuning-up method of the walking parameters to go up and down stairs for a biped robot with leg mechanisms using Stewart platforms. It has been confirmed that the stroke range of use could be reduced by tuning up the waist yaw trajectory and preset ZMP trajectories for motion pattern generation. By using the developed method, a walking experiment involving movement up and down a stair with the rise of 250 mm and certain walking experiments ascending and descending stairs carrying a human were successfully completed. Through these experiments, the effectiveness of the proposed method was confirmed.