title   
  

A novel method for slip prediction of walking biped robots

Hashlamon, Iyad and Gülhan, Mert Mehmet and Ayit, Orhan and Erbatur, Kemalettin A novel method for slip prediction of walking biped robots. Robotica . ISSN 0263-5747 (Print) 1469-8668 (Online) Published Online First http://dx.doi.org/10.1017/S0263574715000818

WarningThere is a more recent version of this item available.

Full text not available from this repository.

Official URL: http://dx.doi.org/10.1017/S0263574715000818

Abstract

This paper proposes a new approach for slip prediction of walking biped robots. The slip prediction is a measurement-based and friction behavior-inspired approach. A measurement-based online algorithm is designed to estimate the Coulomb friction which is regarded as a slip threshold. To predict the slip, a safety margin is introduced in the negative vicinity of the estimated Coulomb friction. The estimation algorithm concludes that if the applied force is outside the safety margin, then the foot tends to slip. The proposed approach depends on the available type of measurements. Three options of measurements are discussed. Among them, the foot acceleration and ankle force measurements scenario is validated by experiments on the humanoid SURALP (Sabanci University Robotics Research Laboratory Platform). The results demonstrate the effectiveness of the proposed approach for slip prediction and detection.

Item Type:Article
Uncontrolled Keywords:Biped; Slip prediction; Slip detection; Friction; LIPM and CoM states estimation
Subjects:Q Science > Q Science (General)
ID Code:28938
Deposited By:Kemalettin Erbatur
Deposited On:23 Dec 2015 21:19
Last Modified:15 May 2017 16:09

Available Versions of this Item

Repository Staff Only: item control page