Paper Info
Title
Recoverability Estimation and Control for an Inverted Pendulum Walker Model Under Foot Slip
Abstract
Locomotion on low-friction surfaces is one of the most challenging problems for bipedal walking. When a stance foot moves and slips on the ground surface, the walker tries to determine whether it is feasible to avoid falling and continue walking. This study uses a simplified two-mass linear inverted pendulum model to analyze the biped dynamics under foot-slip conditions while maintaining closed-form solutions. Using the model, we analytically calculate safe, recoverable, and falling sets to determine whether the walker is able to recover towards a stable position or the fall is inevitable. We present a set of configurations which partition state space and determine the recoverability of the walker. A simple center-of-mass controller is introduced to re-gain the stability by allowing the walker to recover from fall-prone configurations. One attractive property of the developed closed-form expressions lies in feasibility for real-time implementation as a basis for a high-level robust slip recovery controller.
Year
DOI
Venue
2020
10.1109/AIM43001.2020.9159043
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Keywords
DocType
ISSN
biped dynamics,foot-slip conditions,closed-form solutions,falling sets,center-of-mass controller,fall-prone configurations,closed-form expressions,high-level robust slip recovery controller,recoverability estimation,inverted pendulum walker model,low-friction surfaces,bipedal walking,stance foot,ground surface,partition state space,locomotion,simplified two-mass linear inverted pendulum model
Conference
2159-6247
ISBN
Citations 
PageRank 
978-1-7281-6795-4
0
0.34
References 
Authors
3
3
Name
Order
Citations
PageRank
Marko Mihalec100.34
Ye Zhao202.70
Jingang Yi348660.90