WholeBody Motion and Landing Force Control for Quadrupedal Stair Climbing In this paper, we present a novel framework for quadrupedal stair climbing, which considers force interaction with stairs. For stable and robust climbing, a key issue is to avoid falling down on the stairs. From this point of view, control to minimize rate of change of angular momentum about Center of Mass (CoM) which is produced by ground reaction force (GRF) at contact of robotxe2x80x98s foot is necessary. Using this approach, direct forcebased Zero Moment Point (ZMP) for motion planning of the CoM and landing force control are implemented. The direct forcebased ZMP method allows the robot to lift its foot with reduced possibility of tilting on the stairs, and the landing force control prevents instant increase of the moment by impact of the GRFs. In addition, terrain recognition to estimate parameters of the stairs and find proper footholds by vision system mounted on the robot is presented. Proposed framework is implemented to quadruped robot, AiDINVI, that has torque sensor at each joint, through experiments, capability of ascending several stairs including 3step stairs which have 21cm height (31% of its maximum leg length) and 26.5xc2xb0 inclination is validated.

A Novel Capabilities of Quadruped Robot Moving through Vertical Ladder without Handrail Support This paper presents the novel capabilities of a quadruped robot by performing horizontalverticalhorizontal movement transition through vertical ladder without handrailing supporter. To overcome the proposed problem, we propose a multibehavior generation model using independent stepping and pose control in the quadruped robot. The model is able to generate appropriate behavior depending on external (3D point clouds) and internal sensors (ground touch sensor, and Inertial Measurement Unit). Posture condition, safe movement area, possible touchpoint, grasping possibility, and target movement are the information that is analyzed from the sensors. There are four options developed in behavior generation, which are, Approaching, Body Placing, Stepping, and Grasping behavior. In order to prove the effectiveness of the proposed algorithm, the model was implemented on the computer simulation and the real application. Before being applied in the real robot, the proposed model is optimized in the computer simulation. Then, the optimized parameter is used for applying in the real robot. As a result, the robot succeeded to move through the ladder without handrail from lower stair to upper stair. From the analysis, the body placing behavior is the most important strategy in the proposed case.