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Dynamic bipedal robot locomotion has achieved remarkable success due in partto recent advances in trajectory generation and nonlinear control forstabilization. A key assumption utilized in both theory and experiments is thatthe robot's stance foot always makes no-slip contact with the ground, includingat impacts. This assumption breaks down on slippery low-friction surfaces, ascommonly encountered in outdoor terrains, leading to failure and loss ofstability. In this work, we extend the theoretical analysis and trajectoryoptimization to account for stick-slip transitions at point foot contact usingCoulomb's friction law. Using AMBER-3M planar biped robot as an experimentalplatform, we demonstrate for the first time a slippery walking gait which canbe stabilized successfully both on a lubricated surface and on a rough no-slipsurface. We also study the influence of foot slippage on reducing themechanical cost of transport, and compare energy efficiency in both numericalsimulations and experimental measurements.

Dynamic Walking on Slippery Surfaces: Demonstrating Stable Bipedal Gaits with Planned Ground Slippage