Study of load rolling and slipping conditions in a bipedal transport robot and how to prevent them with LIPM

Abstract

In this paper, we considered the case of a bipedal robot carrying objects and people, and formulated the range of robot body acceleration at which the load does not roll and slip. In the robot that carries objects, it is essential to carry the load without falling it. To achieve this, it is important to control the rolling and slipping of the load. Based on a linear inverted pendulum mode (LIPM), we formulated a step length and center of gravity (CoG) height to prevent the load from rolling and slipping. In simulation, We confirmed that the load could be prevented from rolling and the slippage of the load can be reduced within the range of step length and CoG height we formulated.