Impact Shaping for Double Support Walk: From the Rocking Block to the Biped Robot
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.
KeywordsInverted Pendulum Biped Robot Double Support Unilateral Constraint Double Support Phase
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