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Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage

Ma, Wen-Loong and Or, Yizhar and Ames, Aaron D. (2018) Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage. . (Unpublished)

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Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's stance foot always makes no-slip contact with the ground, including at impacts. This assumption breaks down on slippery low-friction surfaces, as commonly encountered in outdoor terrains, leading to failure and loss of stability. In this work, we extend the theoretical analysis and trajectory optimization to account for stick-slip transitions at point foot contact using Coulomb's friction law. Using AMBER-3M planar biped robot as an experimental platform, we demonstrate for the first time a slippery walking gait which can be stabilized successfully both on a lubricated surface and on a rough no-slip surface. We also study the influence of foot slippage on reducing the mechanical cost of transport, and compare energy efficiency in both numerical simulations and experimental measurements.

Item Type:Report or Paper (Discussion Paper)
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Ames, Aaron D.0000-0003-0848-3177
Additional Information:This work is supported by NSF grant 1724464, 1544332, 1724457, and Disney Research LA. The work has been conducted while Y. Or was hosted by A. D. Ames and AMBER lab at Caltech during his sabbatical leave from the Technion.
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Record Number:CaltechAUTHORS:20190201-135608505
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92574
Deposited By: George Porter
Deposited On:01 Feb 2019 22:50
Last Modified:01 Feb 2019 22:50

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