Slipping and Tripping Reflexes for Bipedal Robots

Many robot applications require legged robots to traverse rough orunmodeled terrain. This paper explores strategies that would enablelegged robots to respond to two common types of surface contacterror: slipping and tripping. Because of the rapid response requiredand the difficulty of sensing uneven terrain, we propose a set ofreflexes that would permit the robot to react without modeling oranalyzing the error condition in detail. These reflexive responsesallow robust recovery from a variety of contact errors. We presentsimulation trials for single-slip tasks with varying coefficients offriction and single-trip tasks with varying obstacle heights.

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