Before revision:  This paper mainly can be divided into 4 steps: 1) Planning stable cycloid trajectory for initial step and subsequent step for climbing upstairs . 2) Inverse Kinematics using  unsupervised artificial neural network with knot shifting procedure for jerk minimization.
After revision:  This paper mainly can be divided into 3 steps: 1) Planning stable cycloid trajectory for initial step and subsequent step for climbing upstairs . 2) Inverse Kinematics using unsupervised artificial neural network with knot shifting procedure for jerk minimization.