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 language | English |
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| Pages | 1728-1733 |
| Number of pages | 6 |
| Publication status | Published - 2001 Dec 1 |
| Event | 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States Duration: 2001 Nov 29 → 2001 Dec 2 |
Other
| Other | 27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 |
|---|---|
| Country/Territory | United States |
| City | Denver, CO |
| Period | 01/11/29 → 01/12/2 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering