Abstract
The second building block for dynamic models of walking robots is a model of the contact between the feet of the robot and the ground. Contacts are important in the analysis and control of walking motions for two main reasons. First, the dynamic behavior of a walking robot is strongly influenced by whether or not the feet have contact with the ground: making and breaking contact results in strong nonlinearities (or even switching behavior) in the dynamics. Secondly, impacts determine to some extent the efficiency of a walking cycle: large impacts (stamping) cause large energy losses during the walking cycle.
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© 2009 Springer-Verlag Berlin Heidelberg
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Duindam, V., Stramigioli, S. (2009). Modeling of Compliant and Rigid Contact. In: Modeling and Control for Efficient Bipedal Walking Robots. Springer Tracts in Advanced Robotics, vol 53. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89918-1_3
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DOI: https://doi.org/10.1007/978-3-540-89918-1_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89917-4
Online ISBN: 978-3-540-89918-1
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