A necessary and sufficient condition for conservation of angular momentum at foot strike during passive dynamic walking
Legged robots can walk stably down slopes without any actuation or control. The locomotion is called passive dynamic walking. Its dynamics at foot strike are governed by impact forces. The impulsive dynamics have been modelled in several approaches, where all the approaches assume that the stance le...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2022-06-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/18824889.2022.2136910 |