Pattern Generation for Walking on Slippery Terrains

2017

Conference Paper

mg

In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this for- mulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.

@inproceedings{khadiv_pattern_2017,
  title = {Pattern {Generation} for {Walking} on {Slippery} {Terrains}},
  author = {Khadiv, Majid and Moosavian, S A A and Herzog, Alexander and Righetti, Ludovic},
  booktitle = {2017 5th {International} {Conference} on {Robotics} and {Mechatronics} ({ICROM})},
  address = {Iran},
  month = aug,
  year = {2017},
  doi = {},
  url = {https://arxiv.org/abs/1708.01866},
  month_numeric = {8}
}