Awesome

Quasi-static stair climbing

Source code for the motion-planning part of the paper Supervoxel Plane Segmentation and Multi-Contact Motion Generation for Humanoid Stair Climbing.

<img src="https://scaron.info/images/ijhr-2016.png" width="500" align="center" />

Requirements

CVXOPT for quadratic programming
OpenRAVE for forward kinematics and visualization (installation instructions)
HRP4R.dae COLLADA model for HRP4 (md5sum: bb009f37a1783e3b029a77acb6b92a28)
pymanoid/hrp4.py (md5sum: 82298e46b4d30106aff942dc6e867dfc)

Unfortunately it is unclear whether we can release the last two files due to copyright.

Usage

Run python plan_motion.py from the top-level directory.

Later work

See also this work (2018) for some dynamic stair climbing.