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

Abstract

A mechanism for the control of the heel off to toe off motion of a dynamic biped gait is presented in this paper. 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… (More)
DOI: 10.1109/21.141314

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