Impact Shaping for Double Support Walk: From the Rocking Block to the Biped Robot

  • J. -M. Bourgeot
  • C. Canudas-de-Wit
  • B. Brogliato
Conference paper


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.


Inverted Pendulum Biped Robot Double Support Unilateral Constraint Double Support Phase 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • J. -M. Bourgeot
    • 1
  • C. Canudas-de-Wit
    • 1
  • B. Brogliato
    • 2
  1. 1.Laboratoire d’Automatique de GrenobleINPG-ENSIEG, UMR CNRS 5528St Martin d’HèresFrance
  2. 2.INRIA Rhône-AlpesMontbonnotFrance

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