Action generation of a biped robot climbing stairs

Stairs climbing is a common and typical action of a biped robot. An effective algorithm is crucial for a biped to walk stably. In this paper, we present an algorithm to generate climbing action based on Repeatedly Direct Kinematics (RDK) and forward kinematics, taking the action of climbing up stairs with a biped robot as an example. In our algorithm, in order to meet the requirement of stairs-climbing stability, the position of the robotic center of mass is adjusted by the upper body of the robot and evaluated and updated with the RDK method. The feasibility and effectiveness of the presented action algorithm is verified with the simulation of a biped robot, where the stability of climbing is ensured. The presented algorithm is also applicable to climbing down stairs with a biped robot.