Descending stairs with EP-WAR3 biped robot

Abstract

A third version of the biped robot prototype, named as EP-WAR3 (Electro-Pneumatic WAlking Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. Compared to the performances of the previous versions, EP-WAR3 is also able to descend stairs because of a new actuation system. Moreover, a suitable programming technique of the PLC (Programmable-Logic-Controller) is based on the use of specific subroutines that operate EP-WAR3 to run different walking modes and additionally to descend stairs.