Reflexive responses to slipping in bipedal running robots
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 158 - 164, August, 1995
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.
BibTeX
@conference{Boone-1995-122021,author = {Gary N. Boone and Jessica K. Hodgins},
title = {Reflexive responses to slipping in bipedal running robots},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1995},
month = {August},
volume = {3},
pages = {158 - 164},
}
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