DocumentCode :
3449005
Title :
Reflexive responses to slipping in bipedal running robots
Author :
Boone, Gary N. ; Hodgins, Jessica K.
Author_Institution :
Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
Volume :
3
fYear :
1995
fDate :
5-9 Aug 1995
Firstpage :
158
Abstract :
Many robot applications require traversing uneven or unmodeled terrain. This paper explores strategies for one class of difficult terrain: slippery surfaces. We evaluate several reflexive responses to a slip using a dynamically simulated, three-dimensional, bipedal robot. We explore two kinds of reaction strategies. One strategy continues the step, in which the slip occurred. The other lifts the slipping foot and repositions the legs for another attempt. The most successful strategy positions the legs in a fixed triangular configuration on the step following a slip
Keywords :
legged locomotion; slip; bipedal running robots; fixed triangular configuration; reflexive responses; slippery surfaces; slipping; Foot; Friction; Hip; Laboratories; Leg; Legged locomotion; Robot sensing systems; Rough surfaces; Surface roughness; Surface topography;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
Type :
conf
DOI :
10.1109/IROS.1995.525878
Filename :
525878
Link To Document :
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