Stair-Climbing Control of Humanoid Robot using Force and Accelerometer Sensors

In this paper, an autonomous control scheme is proposed for humanoid robot to accomplish the stair-climbing mission. At first, we design a fuzzy based auto-balance gait controller and adopt the zero moment point (ZMP) criterion to construct the basic motion patterns. Next we propose a ten-step stair-climbing control scheme. For acquiring the information from the environment, two kinds of sensors, the accelerometer and the force sensor are utilized. Experimental results demonstrate that the developed humanoid robot can successfully accomplish the stair-climbing mission though stair steps are with different height.