2026-10-16T11:43:50Z https://meral.edu.mm/oai

oai:meral.edu.mm:recid/00006933 2022-03-24T23:12:20Z 1582963674932 1582963674932:1597397085335 user-miit

Mathematical Approach to Stable Hip Trajectory for Ascending Stairs Biped Robot Aye Aye Thant Khaing Khaing The key contribution of this paper is to generate the stable hip trajectory for ascending stairs of the biped robot from the mathematical point of view. To approach this goal, we first construct the mathematical model for kinematics constraints of step of ascending stairs and discuss the concept of hip trajectory relative to stability. From this, the stable hip trajectory for one cycle of ascending stairs step is derived by interpolation polynomial. Finally, the numerical result of the proposed trajectory is verified with Matlab figures. The present algorithm is also applicable for descending stairs of the biped robot. 2020-01-16 http://hdl.handle.net/20.500.12678/0000006933 https://meral.edu.mm/records/6933