Dynamics of Heel Strike in Bipedal Systems with Circular Feet

  • Josep Maria Font
  • József Kövecses


Energetic efficiency is a fundamental subject of research in bipedal robot locomotion. In such systems, the collision of the foot with the ground at heel strike is the main cause of energy loss during the gait. In this work, a Lagrangian framework to study the impulsive dynamics of collisions is presented. Based on the inert constraints of this event, a decomposition of the dynamics to the spaces of constrained and admissible motions is introduced. It is used to analyze the energy redistribution at heel strike in circular-feet bipeds. We present results that show the effect of the foot radius and the impact configuration on the energetic cost of walking.


Bipedal locomotion Dynamics Robotic walking systems Collisions Mechanism design 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Josep Maria Font
    • 1
  • József Kövecses
  1. 1.Department of Mechanical EngineeringCentre for Intelligent Machines McGill UniversityH3A 2K6 MontréalCanada

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