INVERSE DYNAMICS FOR A QUADRUPED ROBOT LOCOMOTING ALONG SLIPPERY SURFACES

摘要

We describe a method for computing inverse dynamics forces suitable for robots locomoting along (or manipulating) sticky and slippery surfaces. Our method assumes rigid body dynamics, rigid body contact, and Coulomb friction, and is sufficiently fast for computation in real-time servos. We assess our method’s performance on the HyQ quadrupedal robot in both simulation and in situ.