Hashlamon, Iyad and Gülhan, Mert Mehmet and Ayit, Orhan and Erbatur, Kemalettin (2015) 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
![Warning](/style/images/warning.png)
There is a more recent version of this item available.
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) |
Divisions: | Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics Faculty of Engineering and Natural Sciences |
Depositing User: | Kemalettin Erbatur |
Date Deposited: | 23 Dec 2015 21:19 |
Last Modified: | 03 Sep 2019 14:20 |
URI: | https://research.sabanciuniv.edu/id/eprint/28938 |
Available Versions of this Item
- A novel method for slip prediction of walking biped robots. (deposited 23 Dec 2015 21:19) [Currently Displayed]