Walking on slippery surfaces: Generalized task-prioritization framework approach

Abstract

© Springer International Publishing Switzerland 2014. Like humans, bipedal robots can easily fall on slippery and low-friction surfaces. In order to avoid costly breakdowns, fall avoidance is of major importance. Recently reported generalized task-prioritization framework enables us to impose dynamical inequality constraints on the robot motion, which we used to create quasi-static walk using task prioritization. Created walking is tested on high- and low-friction surfaces and resulting walking patterns are observed.