A novel method for slip prediction of walking biped robots

Abstract

This paper proposes a new approach for slip prediction of walking biped robots. The slip prediction is a measurement-based and friction behavior-inspired approach. A measurement-based online algorithm is designed to estimate the Coulomb friction which is regarded as a slip threshold. To predict the slip, a safety margin is introduced in the negative vicinity of the estimated Coulomb friction. The estimation algorithm concludes that if the applied force is outside the safety margin, then the foot tends to slip. The proposed approach depends on the available type of measurements. Three options of measurements are discussed. Among them, the foot acceleration and ankle force measurements scenario is validated by experiments on the humanoid SURALP (Sabanci University Robotics Research Laboratory Platform). The results demonstrate the effectiveness of the proposed approach for slip prediction and detection.

Simultaneous Prevention of Rotational and Translational Slip for a Humanoid Robot

“…On the aspect of translational slip prevention, most of the studies concentrate on the frictional constraint between the sole of the humanoid robot and the floor. Moreover, they prevent translational slipping by causing the friction which is required for humanoid robot to walk less than the maximum friction that the ground can provide [15][16][17][18][19][20]. Khadiv et al and Brandao et al developed a gait optimization routine to generate walking patterns.…”

“…These walking patterns demanded the lowest friction forces for implementation in order to prevent translational slipping [15,16]. Vázquez et al and Hashlamon et al designed sensors as a measurement system of slip and then adapted the contact points of the robot with the walking surface in order to increase the frictional characteristics [17,18]. Takabayashi et al and Bowyer et al calculated the frictional force to deduce the quantitative expression of frictional constraint.…”