Novel Gait for an Anthropoid and Its Joint Demeanors while Stepping Up and Down Stairs

A biped humanoid is considered as an open kinematic chain consisting of two sub chains as legs and torso which connected at a common point, the hip. When defining the gait for stepping stairs, there exist two main phases which are Single Support Phase (SSP) and Double Support Phase (DSP). The challenge is to make the anthropoid stable in its upright position without losing it while performing the two alternating phases, SSP and DSP. In this paper a novel gait for an an- thropomorphic system to step up-down stairs is formulated and experimented using BIOLOID humanoid platform. The gait is merged with various poses which are excogitated through the Forward and Inverse Kinematics (FK and IK) analysis based on Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation techniques. The main focus of this paper is to represent and analyze the diverse behaviour of the various joint actuators of the robot while performing the step up and down stairs.