Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866911556162289664 |
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| author | Colombo, Leonardo Abella, Álvaro Rodríguez Simoes, Alexandre Anahory Bloch, Anthony |
| author_facet | Colombo, Leonardo Abella, Álvaro Rodríguez Simoes, Alexandre Anahory Bloch, Anthony |
| contents | Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that explicitly incorporates slip into the locomotion model through virtual nonholonomic constraints, which regulate the tangential stance-foot velocity while remaining compatible with the virtual holonomic constraints used to generate the walking gait. The resulting closed-loop system is formulated as a hybrid dynamical system with continuous swing dynamics and discrete impact events. A nonlinear feedback law enforces both classes of constraints and yields a slip-compatible hybrid zero dynamics manifold for the reduced-order locomotion dynamics. Stability of periodic walking gaits is characterized through the associated Poincaré map, and numerical results illustrate stabilization under slip conditions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_29050 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints Colombo, Leonardo Abella, Álvaro Rodríguez Simoes, Alexandre Anahory Bloch, Anthony Systems and Control Robotics Dynamical Systems Optimization and Control Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that explicitly incorporates slip into the locomotion model through virtual nonholonomic constraints, which regulate the tangential stance-foot velocity while remaining compatible with the virtual holonomic constraints used to generate the walking gait. The resulting closed-loop system is formulated as a hybrid dynamical system with continuous swing dynamics and discrete impact events. A nonlinear feedback law enforces both classes of constraints and yields a slip-compatible hybrid zero dynamics manifold for the reduced-order locomotion dynamics. Stability of periodic walking gaits is characterized through the associated Poincaré map, and numerical results illustrate stabilization under slip conditions. |
| title | Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints |
| topic | Systems and Control Robotics Dynamical Systems Optimization and Control |
| url | https://arxiv.org/abs/2603.29050 |