Abstract
This paper presents a study on how a biped needs to be configured before an impact to achieve double support. To model the biped behavior during the double impact, a novel approach based on the rocking block is proposed. Moreover, an application to the double support walk impact shaping for planar under-actuated biped robot is proposed. © 2006 Springer-Verlag Berlin Heidelberg.
Cite
CITATION STYLE
Bourgeot, J. M., Canudas-De-Wit, C., & Brogliato, B. (2006). Impact shaping for double support walk: From the rocking block to the biped Robot. In Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005 (pp. 509–516). Kluwer Academic Publishers. https://doi.org/10.1007/3-540-26415-9_61
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