Reflex Control of Biped Robot Locomotion on A Slippery Surface
نویسندگان
چکیده
Biped robots are expected to walk on many di erent and previous unknown terrains, and thus they may walk on a slippery surface with low friction with no information on the surface a priori. Any fall-down due to unexpected slipping could costly damage the robot and thus should be avoided. This paper proposes a re ex control method for biped robots to quickly recover their posture from a slip soon after a detection of the slip. Computer simulations with a 12-DOF biped robot and a 6-DOF environment model that consists of nonlinear dampers, and linear and nonlinear springs, show that the proposed method is very e ective in preventing a fall-down of biped robots on a slippery surface.
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