Trajectory generation and control for a biped robot walking upstairs

Chan Soo Park, Taesin Ha, Joohyung Kim, Chong Ho Choi

Research output: Contribution to journalArticlepeer-review


This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs.

Original languageEnglish (US)
Pages (from-to)339-351
Number of pages13
JournalInternational Journal of Control, Automation and Systems
Issue number2
StatePublished - Apr 2010
Externally publishedYes


  • Biped robot
  • Compliance control
  • Humanoid
  • Stair walking
  • Trajectory generation
  • ZMP

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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