抄録
In this paper, we propose a new “slip-adaptive” strategy which enables a robot to walk on slippery surface. In this strategy, the gradient of the surface is estimated based on the acceleration signals measured through the accelerometer attached to each leg. A short-time force control considering the friction cone is applied to the slipping leg for slip compensation. This input consists of the position/force hybrid control of the supporting legs (i.e., a position control of kicking motion and a force control of slipping compensation) . The validity of the proposed method is confirmed through the simulation and the experiment.
