3D limit cycle walking of musculoskeletal humanoid robot with flat feet


Most of traditional biped walkers based on passive dynamic walking have arc feet and locked ankle joints. In this paper, we propose the method to substitute the arc feet with flat feet. We hypothesize that the shape of the arc feet corresponds to a circular roll-over shape (ROS), which is a shape of a trajectory of center of pressure in the shank-fixed… (More)
DOI: 10.1109/IROS.2009.5354388


13 Figures and Tables


Citations per Year

Citation Velocity: 12

Averaging 12 citations per year over the last 3 years.

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