Planar Sliding Analysis of a Biped Robot in Centroid Acceleration Space

Summary

A two-dimensional analysis of biped robot sliding dynamics is considered. First, the dynamics of a biped robot based on feet slip are derived using the Coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a "triangle of sliding friction." The triangle of sliding friction's characteristics are explained by focusing on comparison with the cone of friction, which has a similar state decision diagram. Moreover, the behavioral simulation of a concrete 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of both legs.

Reference

1. Taku Senoo and Masatoshi Ishikawa: Planar Sliding Analysis of a Biped Robot in Centroid Acceleration Space, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (Chicago, USA, 2014.9.17) / Proceedings, pp.4050-4056 (2014)