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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

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.

Keywords

Inverted Pendulum Biped Robot Double Support Unilateral Constraint Double Support Phase 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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