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Cycloidal Trajectory Realization on Staircase based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD) with Ant Colony Optimization for a 9-Link Bipedal Robot
For the task of climbing stairs by a 9-link biped model, a cycloid trajectory for swing phase is proposed in such a way that the cycloid variables depend on the staircase dimensions.
Planning Brachistochrone Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
Here, an adaptive trajectory planning algorithm is developed so that biped robots of varying link lengths, masses can climb down on varying staircase dimensions.
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