Slipping and Tripping Reflexes for Bipedal Robots

Authors:
Gary N. Boone;Jessica K. Hodgins
Affiliations:
College of Computing, Georgia Institute of Technology, Atlanta, GA 30332–0280. E-mail: gboone@cc.gatech.edu, jkh@cc.gatech.edu;College of Computing, Georgia Institute of Technology, Atlanta, GA 30332–0280. E-mail: gboone@cc.gatech.edu, jkh@cc.gatech.edu
Venue:
Autonomous Robots
Year:
1997

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Abstract

Many robot applications require legged robots to traverse rough orunmodeled terrain. This paper explores strategies that would enablelegged robots to respond to two common types of surface contacterror: slipping and tripping. Because of the rapid response requiredand the difficulty of sensing uneven terrain, we propose a set ofreflexes that would permit the robot to react without modeling oranalyzing the error condition in detail. These reflexive responsesallow robust recovery from a variety of contact errors. We presentsimulation trials for single-slip tasks with varying coefficients offriction and single-trip tasks with varying obstacle heights.