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This paper presents an effective and systematic trajectory generation method, together with a control method for enabling a biped robot to walk upstairs. The COG (center of gravity) trajectory is generated by the VHIPM (virtual height inverted pendulum mode) for the horizontal motion and by a 6th order polynomial for the vertical motion; an ankle compliance control (ACC) is also added into the robot control. The proposed methods are evaluated by simulations as well as being implemented in a robot for the performance verification. The results show that the proposed methods can generate stable motions when walking upstairs, and these can significantly reduce the zero moment point (ZMP) errors compared with other methods, enabling the robot to walk up steeper stairs.

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