Footstep adjustment for biped push recovery on slippery surfaces

DOI10.1007/S11044-022-09842-ZMaRDI QIDQ2099663zbMATH OpenOpenAlexFDO

Authors Erfan Ghorbani, Hossein Karimpour, Venus Pasandi, Mehdi Keshmiri

Publication date 24 November 2022

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2111.05203

zbMATH Keywords

legged locomotionpush recoveryslipping preventionstep length adjustmentstep time adjustment

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

Recommendations

• Hybrid control of biped robots to increase stability in locomotion
• Hybrid disturbance rejection control of dynamic bipedal robots
• Dynamic bipedal walking under stick-slip transitions
• Disturbance rejection control based on acceleration projection method for walking robots
• Stability improvement of a dynamic walking system via reversible switching surfaces

Cites work

• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• scientific article; zbMATH DE number 3568468 (Why is no real title available?)
• Hybrid zero dynamics of planar biped walkers
• On the stability properties of quadruped creeping gaits
• The role of impact in the stability of bipedal locomotion

Cited in

(2)

• Stumbling with optimal phase reset during gait can prevent a humanoid from falling
• Stable underactuated biped locomotion on various geometrical surfaces

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