Climbing Stairs Gait Planning and Virtual Simulation for Biped Robot Based on Three-Dimensional Inversed Pendulum

In order to explore the climbing stairs capability of a biped robot, this paper planed the climbing stairs gait based on a series of three-dimensional inversed pendulum. Firstly, an improved mechanical model of the three-dimensional inversed pendulum was explained. Secondly, according to several necessary boundary conditions, the continuous trajectory of the center of gravity and the ankle joints of the biped robot were designed based on high-order polynomial respectively. Thirdly, the joint angle curves of the 10 degrees of freedom of the biped robot's legs were calculated using the geometric relations. Finally, a virtual prototype of the biped robot was built in ADAMS, and the coordinated climbing stairs movement was realized under the control of our designed climbing stairs gait. The simulation results showed that the biped robot can climb stairs successfully and exhibited a good gait stability in the virtual environment.