Preprint Open access
When to Waddle: A Comparative Study of Bipedal Torso-Stabilization on Low-Friction Surfaces
Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Inspired by penguin waddling, we investigate how lateral torso motion and center of mass (COM) placement affect locomotion as surface friction changes. Using a five-actuator biped, we compare an upright-gait str …