NDLI: Control of the heel-off to toe-off motion of a dynamic biped gait

Content Provider	IEEE Xplore Digital Library
Author	Goddard, R.E. Zheng, Y.F. Hemami, H.
Copyright Year	1971
Abstract	A mechanism for the control of the heel-off to toe-off motion of a dynamic biped gait is presented. It is argued that the reaction force between the ground and the biped foot is an important factor in a satisfactory implementation of dynamic gait. This force must be properly controlled while the foot is in the heel-off to toe-off phase. Since the foot rolls over the ground surface in this phase and the global description of the surface is unknown, the foot has to execute a nonholonomic constraint motion. The formulations of nonholonomic constraints and system dynamics under the constraints are derived for the roll-over motion. A feedback control mechanism is designed based on the formulations. The formulation and the feedback control mechanism are applied to a four-link biped model. Successful simulation results of the heel-off to toe-off motion prove that the formulation and control mechanism are valid for the nonholonomically constrained motion of the biped.<>
Starting Page	92
Ending Page	102
Page Count	11
File Size	1052004
File Format	PDF
ISSN	00189472
Volume Number	22
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-01-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Legged locomotion Foot Robots Gravity Force control Feedback control Humans Ground support
Content Type	Text
Resource Type	Article
Subject	Engineering

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