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Appl. Sci. 2018, 8(9), 1554; https://doi.org/10.3390/app8091554

Simultaneous Prevention of Rotational and Translational Slip for a Humanoid Robot

1
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
2
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing 100081, China
3
The High School Affiliated to Renmin University of China, Beijing 100080, China
4
Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China
*
Author to whom correspondence should be addressed.
Received: 20 August 2018 / Revised: 2 September 2018 / Accepted: 3 September 2018 / Published: 4 September 2018
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Abstract

Slip often occurs in humanoid robot walking, especially when the robot walks on a low friction floor or walks fast. Unexpected slip may cause the robot to fall and then sustain damage. In real environments, rotational and translational slip phenomena can happen during biped walking. Previous studies have mainly focused on solving these problems independently. In this paper, we propose strategies for simultaneous rotational and translational slip prevention based on a three mass model, which takes into account the effect of the swing leg. The rotational slip is prevented through a bionic walking pattern generator which mimics the yaw moment compensation mechanism of a human. The translational slip is eliminated through a novel reaction force ratio reduction control with the compensation of CoM (center of mass) acceleration. The effectiveness of the presented strategies is validated by simulations and experiments with an actual humanoid robot. View Full-Text
Keywords: humanoid robot; rotational slip prevention; translational slip prevention humanoid robot; rotational slip prevention; translational slip prevention
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Zhou, Q.; Yu, Z.; Zhang, S.; Chen, X.; Qin, M.; Zhang, W.; Huang, Q. Simultaneous Prevention of Rotational and Translational Slip for a Humanoid Robot. Appl. Sci. 2018, 8, 1554.

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