@inproceedings{b7ee9b56e3e449dbb8be0c0df449a4fe,
title = "Slip prevention of a humanoid robot by coordinating acceleration vector",
abstract = "A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.",
keywords = "Slip prevention, acceleration vector, balance preservation, humanoid robot",
author = "Zhangguo Yu and Jing Li and Qiang Huang and Xuechao Chen and Gan Ma and Libo Meng and Si Zhang and Yan Liu and Wen Zhang and Weimin Zhang and Xiaopeng Chen and Junyao Gao",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Information and Automation, ICIA 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = oct,
day = "21",
doi = "10.1109/ICInfA.2014.6932740",
language = "English",
series = "2014 IEEE International Conference on Information and Automation, ICIA 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "683--688",
booktitle = "2014 IEEE International Conference on Information and Automation, ICIA 2014",
address = "United States",
}