A 30 DoF simulated test robot climbing stairs with a rise of 35 cm and a tread of only 15 cm at a rate of 7.9 seconds per ten steps. Stairs this steep disallow the use of the full foot polygon to balance on a step by CoP placement, forcing us to focus on the use of angular momentum and improved weight distribution algorithms for balance control. In addition, combined ground reaction force control and foot orientation control is necessary, where the orientation of the foot is constrained by the line contact with the step.
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