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Movement Generation and Control Conference Paper 2017

Pattern Generation for Walking on Slippery Terrains

Thumb ticker sm herzog medium
Autonomous Motion, Movement Generation and Control
Alexander Herzog
  • Doctoral Researcher
Thumb ticker sm righetti
Movement Generation and Control
Ludovic Righetti
Visiting Researcher
Thumb ticker sm majid khadiv
Empirical Inference
Majid Khadiv

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.

Author(s): Khadiv, Majid and Moosavian, S A A and Herzog, Alexander and Righetti, Ludovic
Book Title: 2017 5th International Conference on Robotics and Mechatronics (ICROM)
Year: 2017
Month: August
Bibtex Type: Conference Paper (inproceedings)
Address: Iran
URL: https://arxiv.org/abs/1708.01866
Electronic Archiving: grant_archive

BibTex 

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