HRP-4 humanoid robot climbing stairs

The humanoid robot HRP-4 climbs up a staircase with 18.5 cm high steps. Step dimensions are reproduced from an industrial staircase at Airbus Saint-Nazaire Factory considered in the COMANOID project. In order to coexist safely with humans, HRP-4 has been designed to be both lightweight and low-power. For the first time, it is shown that HRP-4 is still powerful enough to not only walk but also climb stairs in practical scenarios. - Technical pre-print: