In this paper, stair walking of small power biped robot is implemented by load sharing method of walking gait and adding body. Generally, in one foot standing, load is burdened to especial joint. Further, robot's foot is long steps and is lifted up hi...
In this paper, stair walking of small power biped robot is implemented by load sharing method of walking gait and adding body. Generally, in one foot standing, load is burdened to especial joint. Further, robot's foot is long steps and is lifted up high to go up stairs. So, especial joint is sometimes overloaded during walking and this makes walking impossible. This problem is solved in this paper using adding body, load sharing method and kick action. By this ways, stair walking of small power biped robot can be implemented without overload to joint.