Approximate slipping effects analysis and compensation on a biped robot

This work is focused on the slipping effects analysis and the model based control of a class of biped robots over a complete walking cycle restricted to the sagittal plane. It is known that the effect of the impact of the swing leg with the walking surface produces a change in the articular velocities that forces a change on the initial conditions for the new step. Based on a simplification of the dynamic model of the system, in this work, we establish theoretical conditions to prevent or compensate possible undesirable slipping conditions on the single or double support phase. For doing this, it is considered a modification of the posture of the robot via the modification of the reference trajectories.