Climbing stairs with EP-WAR2 biped robot

Abstract

A second prototype of a biped walking robot, called EP-WAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (Laboratory of Robotics and Mechatronics) in Cassino. In addition to the performances of the previous prototype EP-WAR, EP-WAR2 is able to climb stairs because of a new actuation system. A suitable programming of the programmable logic controller has been based on several subroutines, which run different walking motions and specifically to climb stairs. Experimental tests prove the validity of the proposed low-cost design and programming technique.