Dynamic Terrain-Adaptive Gait Control for Bipedal Robots Using a Dual-Threshold Velocity Model

This paper presents a novel adaptive control system for bipedal robots, utilizing a dual-threshold velocity model to safely manage the transition between walking and running over varying terrain. The system dynamically calculates two independent limits: a kinematic gait threshold based on the Froude number and slope, and a traction safety threshold based on surface friction. By actively comparing these thresholds in real-time using terrain sensors (e.g., LiDAR, cameras), the closed-loop control system determines whether it is physically safe to initiate a running gait or if running must be locked out to prevent slippage. This dynamic approach optimizes gait transitions for both efficiency and stability in unstructured environments.