滑りやすい路面での動的二足歩行：計画的な接地滑りを考慮した安定歩容の実現
Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage
クーロン摩擦によるスティックスリップ遷移を考慮した軌道最適化を提案し、AMBER-3M二足ロボットで滑り面上でも安定な歩行を実現、足滑りが移動コストに与える影響も解析した。
著者: Wen-Loong Ma, Yizhar Or, Aaron D. Ames
分類: cs.RO
原文アブストラクト
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's stance foot always makes no-slip contact with the ground, including at impacts. This assumption breaks down on slippery low-friction surfaces, as commonly encountered in outdoor terrains, leading to failure and loss of stability. In this work, we extend the theoretical analysis and trajectory optimization to account for stick-slip transitions at point foot contact using Coulomb's friction law. Using AMBER-3M planar biped robot as an experimental platform, we demonstrate for the first time a slippery walking gait which can be stabilized successfully both on a lubricated surface and on a rough no-slip surface. We also study the influence of foot slippage on reducing the mechanical cost of transport, and compare energy efficiency in both numerical simulations and experimental measurements.
