Control of Plane Motion of Two-leg Five-link Robot Moving along Stairway

A problem of control of plane motion of a two-leg five-link robot moving along a stairway is considered. A normal form of an equation system is constructed which describes the robot behavior at the phase of the one-support movement when only one leg is in contact with a stairway surface. Control actions are obtained which provide the robot movement according to the specified characteristics. Based on the analysis of the zero-dynamics equation system a periodical movement is constructed. Results of a numerical simulation are given.