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A Novel Gait and Foot Slip Detection Algorithm for Walking Robots

[+] Author Affiliations
Nori Okita, H. J. Sommer, III

The Pennsylvania State University, University Park, PA

Paper No. DSCC2014-6021, pp. V003T45A002; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME


A novel gait and slip detection algorithm for walking robots using an inertial measurement unit was developed. An unscented Kalman filter was formulated with a simple dynamic model as a block on a slope without translations. Considerable prediction errors resulted when unmodeled dynamics (i.e., translation) occurred. These prediction errors were used in a binary Bayes filter to estimate the probability of gait and slip states. A proof of concept experiment was conducted with a monopedal walker under three floor conditions (nonslip, poly, and poly-oil) and three orientations (flat, uphill, and downhill). Realtime and offline detection at 100 Hz were successful. Continuous gait cycles were detected in proper order. Slip detection was successful except for very mild slips involving small jerk. The proposed algorithm provided a robust gait and slip detection method with a single set of parameters without knowledge of floor conditions and inclinations.

Copyright © 2014 by ASME
Topics: Robots , Algorithms



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