Recoverability estimation and control for an inverted pendulum walker model under foot slip

Marko Mihalec, Ye Zhao, Jingang Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Locomotion on low-friction surfaces is one of the most challenging problems for bipedal walking. When a stance foot moves and slips on the ground surface, the walker tries to determine whether it is feasible to avoid falling and continue walking. This study uses a simplified two-mass linear inverted pendulum model to analyze the biped dynamics under foot-slip conditions while maintaining closed-form solutions. Using the model, we analytically calculate safe, recoverable, and falling sets to determine whether the walker is able to recover towards a stable position or the fall is inevitable. We present a set of configurations which partition state space and determine the recoverability of the walker. A simple center-of-mass controller is introduced to re-gain the stability by allowing the walker to recover from fall-prone configurations. One attractive property of the developed closed-form expressions lies in feasibility for real-time implementation as a basis for a high-level robust slip recovery controller.

Original languageEnglish (US)
Title of host publication2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages771-776
Number of pages6
ISBN (Electronic)9781728167947
DOIs
StatePublished - Jul 2020
Event2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020 - Boston, United States
Duration: Jul 6 2020Jul 9 2020

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Conference

Conference2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Country/TerritoryUnited States
CityBoston
Period7/6/207/9/20

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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