Robust Gait Design Insights from Studying a Compass Gait Biped with Foot Slipping
Tan Chen,Bill Goodwine,Tan Chen,Bill Goodwine
Most current bipedal robots were modeled with an assumption that there is no slip between the stance foot and ground. This paper relaxes that assumption and undertakes a comprehensive study of a compass gait biped with foot slipping. It is found that slips are most likely to happen near impact for a broad range of gaits. Among these gaits, ones with a backward swing foot velocity relative to the g...
