Continuous Slip Recovery

A computer-implemented method comprising:

• receiving, at data processing hardware of a robot, sensor data of an environment of the robot, wherein the sensor data indicates a touchdown of an appendage of the robot;
• determining, by the data processing hardware, a state of an appendage of the robot based on the touchdown of the appendage;
• detecting, by the data processing hardware, a slip of the appendage based on the state of the appendage;
• and
• instructing, by the data processing hardware, one or more actuators of the robot to apply a force at the appendage based on detecting the slip of the appendage.

A system comprising:

• data processing hardware;
• and
• memory in communication with the data processing hardware, the memory storing first instructions, wherein execution of the first instructions by the data processing hardware causes the data processing hardware to:
• receive sensor data of an environment of a robot, wherein the sensor data indicates a touchdown of an appendage of the robot;
• determine a state of an appendage of the robot based on the touchdown of the appendage;
• detect a slip of the appendage based on the state of the appendage;
• and
• instruct one or more actuators of the robot to apply a force at the appendage based on detecting the slip of the appendage.

A robot comprising:

• an appendage;
• data processing hardware;
• and
• memory in communication with the data processing hardware, the memory storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
• receive sensor data of an environment of the robot, wherein the sensor data indicates a touchdown of the appendage;
• determine a state of an appendage of the robot based on the touchdown of the appendage;
• detect a slip of the appendage based on the state of the appendage;
• and
• instruct one or more actuators of the robot to apply a force at the appendage based on detecting the slip of the appendage.