Robust gait design for a compass gait biped on slippery surfaces

Most current bipedal robots were modeled with an assumption that there is no slip between the stance foot and ground. This paper relaxes undertakes a comprehensive study of compass gait biped on slippery It presents in detail control allows for slipping, shows feasible gaits fail ground two causes: falling backward or requiring negative contact force which cannot be provided by To characterize robust ground, three safety factors are proposed to measure robustness: friction, friction tolerance ability slipping without falling. thus uses these investigate independent influence speed step length robustness gait, small moderate preferable surfaces. In contrast, large generally require maintain stable walking Moreover, swing velocity relative just before touch down more than ones forward velocity. further shown only one parameter design determines swing-backward feature, can help gaits. Models varying physical parameters such as mass, leg position center mass (CoM) each leg, also studied validate universality this result.