Optimal reference trajectories for walking and running of a biped robot

@article{Chevallereau2001OptimalRT,
  title={Optimal reference trajectories for walking and running of a biped robot},
  author={Christine Chevallereau and Yannick Aoustin},
  journal={Robotica},
  year={2001},
  volume={19},
  pages={557-569}
}
The objective of this study is to obtain optimal cyclic gaits for a biped robot without actuated ankles. Two types of motion are studied: walking and running. For the walking, the gait is composed uniquely of successive single support phases and instantaneous double support phases that are modelled by passive impact equations. The legs swap their roles from one single support phase to the next one. For the running, the gait is composed of stance phases and flight phases. A passive impact with… CONTINUE READING

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