Quick change of walking direction of biped robot with foot slip in single-support phase

This paper proposes a method to realize a quick and natural turn, or a change of the walking direction in the middle of locomotion of a biped robot, which takes advantage of a slip between the sole of the foot on the ground and the ground. The turn occurs during a single support phase to shortening the time to turn. Based on the 3D dynamics of a biped model which consists of one particle for a swing foot and a rigid body representing the main body of the robot, the desired trajectory of the swing foot and the expected friction on the ground, the desired ankle motion is computed. Simulations were performed with a 20-DOF biped robot model and the results of the simulations are described.