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Balance Recoverability and Control of Bipedal Walkers With Foot Slip.

Marko Mihalec1, Mitja Trkov2, Jingang Yi1

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Stable walking is difficult with slippery feet. This study introduces balance recoverability to quantify gait stability and design controllers that help robots and humans avoid falls, even with friction variations.

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Low-friction foot/ground contact poses significant challenges for stable bipedal locomotion.
  • Existing locomotion stability analyses often assume non-slip conditions, which are not always applicable.
  • Foot slippage complicates robot dynamics and limits the direct application of general stability results.

Purpose of the Study:

  • To investigate bipedal dynamics under conditions of foot slip, relaxing the non-slip assumption.
  • To introduce and define 'balance recoverability' as a metric for quantifying gait stability.
  • To design and validate a balance recovery controller for preventing falls in bipedal walkers.

Main Methods:

  • Utilized a two-mass linear inverted pendulum model to analyze bipedal dynamics.
  • Introduced the concept of balance recoverability to quantify gait stability and inform controller design.
  • Developed a within- or multi-step recovery controller to mitigate falls.

Main Results:

  • Demonstrated the effectiveness of the balance recoverability metric in analyzing walking gaits.
  • Validated the performance of the designed balance recovery controller through simulations.
  • Confirmed controller robustness against measurement noise and variations in foot/ground friction.

Conclusions:

  • The balance recoverability concept provides a robust framework for analyzing and improving bipedal walking stability, especially under low-friction conditions.
  • The developed controller effectively assists walkers in avoiding falls, enhancing dynamic stability.
  • Human walking experiments validated the practical applicability and interpretability of the balance recoverability concept.