An approach to stable walking on unknown slippery floor for biped robot

Hiroki Yamamoto, Kouhei Ohnishi

Research output: Contribution to conferencePaper

6 Citations (Scopus)

Abstract

In many studies, biped robots are controlled on the assumption that friction between the floor and the feet of the biped robot is large enough. This assumption is necessary for biped robot, because slipping of biped robot never happens on such floor. But in real environment, it is not necessarily true that all floors on which biped robot walks have enough friction. For the practical use of biped robot, it is required to walk firmly on the any kinds of floor. The purpose of this paper is to realize walking not to slip on unknown slippery floor. In this paper, an approach to detect slipping on slippery floor and a method for continuous walking on slippery floor are proposed. Computer simulations of a biped robot 6 degrees of freedom are performed. The simulational results show that the effectivity of the proposed method is superior to walking on unknown slippery floor.

Original languageEnglish
Pages1728-1733
Number of pages6
Publication statusPublished - 2001 Dec 1
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
Duration: 2001 Nov 292001 Dec 2

Other

Other27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
CountryUnited States
CityDenver, CO
Period01/11/2901/12/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Yamamoto, H., & Ohnishi, K. (2001). An approach to stable walking on unknown slippery floor for biped robot. 1728-1733. Paper presented at 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001, Denver, CO, United States.