Abstract
Like humans, bipedal robots can easily fall on slippery and low-friction surfaces. In order to avoid costly breakdowns, fall avoidance is of major importance. Recently reported generalized task-prioritization framework enables us to impose dynamical inequality constraints on the robot motion, which we used to create quasi-static walk using task prioritization. Created walking is tested on high- and low-friction surfaces and resulting walking patterns are observed.
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Notes
- 1.
Desired CoM path during double support phase follows line which connects centers of the feet.
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Acknowledgments
This work was funded by the Ministry of Science and Technological Development of the Republic of Serbia in part under contract TR35003 and in part under contract III44008 and by Provincial Secretariat for Science and Technological Development under contract 114-451-2116/2011.
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Nikolić, M., Branislav, B., Raković, M. (2014). Walking on Slippery Surfaces: Generalized Task-Prioritization Framework Approach. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_22
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DOI: https://doi.org/10.1007/978-3-319-07058-2_22
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