Abstract
The objective of this research is to create a dynamical model for bipedal locomotion like human. We define contact between land surface and foot as constraint and consider that human's walking generally uses surface-contacting of foot and point-contacting of tiptoe or heel. Therefore, it seems that using these constraints properly is important for efficient walking. In this paper, in order to depict these constraints, new model is discussed by changing 4 models based on dynamics through Newton-Euler method. Then, we applied the proposed model to bipedal walking control of leg of humanoid robot and evaluated effectiveness of the proposed model by numerical simulation.
