1. Sugahara Y, Ohta A, Hashimoto K, et al. Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism. In: Proceedings of International Conference on Intelligent Robots and Systems, 2005
2. Kim E S, Kim J H, Kim J W. Generation of optimal trajectories for ascending and descending a stair of a humanoid based on uDEAS. In: Proceedings of International Conference on Fuzzy Systems, 2009
3. Aguilera-Castro D, Neira-Cárcamo M, Aguilera-Carrasco C, et al. Stairs recognition using stereo vision-based algorithm in Nao robot. In: Proceedings of CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, 2017
4. Caron S, Kheddar A, Tempier O. Stair climbing stabilization of the HRP-4_humanoid robot using wholebody admittance control. In: Proceedings of International Conference on Robotics and Automation, 2019
5. Zhang T, Caron S, Nakamura Y. Supervoxel plane segmentation and multi-contact motion generation for humanoid stair climbing. Int J Human Robot, 2017, 14: 1650022