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Abstract

A system for controlling locomotion of a legged mobile robot, more particularly stair descending of a biped mobile robot having a body and two articulated legs each connected to the body through hip joints and each including a foot connected to the leg through ankle joints. Gait parameters are generated such that the foot should be landed on a stair step from its heel and is kept in surface-contact or in point-contact by at least three points. The stair descending is then controlled using the generated gait parameters. With the arrangement, the system makes it possible to control the robot locomotion such that the robot descends stairs with a stable posture even when the foot length is greater than the stair step depth. This also makes it possible to design the size of the foot independent of the size of the stairs. Moreover, the tolerance of positional errors is increased, increasing the number of stair steps that the robot descends continuously keeping a stable posture.

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