Research on Gait Planning of Bipedal Robots Climbing Stairs Based on ZMP and Inverted Pendulum

Addressing the critical issue of effectively adjusting gait and center of mass position under varying stair heights and inclines to ensure stable climbing, dynamic balance, and safety of robots, this paper proposes a bipedal robot stair climbing gait planning method based on ZMP theory and a linear inverted pendulum motion model. Firstly, analyze the motion characteristics of the single-leg inverted pendulum model under varying trajectory energies. Subsequently, by dynamically adjusting the center of mass and foot positions, the trajectory of the center of mass exhibits a stable straight line. Simultaneously, bipedal robot climbing motions can be translated into a combination of flat ground and inclined plane movements. The results indicate that the control system effectively responds to the inclination angles of the stairs, ensuring stable and controllable stair climbing gaits. This method is efficient and feasible, providing a theoretical basis for the stable gait movement of bipedal robots in complex environments in subsequent research.