Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 51st Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 4T4-3
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Host: The Institute of Systems, Control and Information Engineers

Investigation of foot rolling motion in bipedal locomotion based on a simple walking model
*Yuki Sato, Shinya Aoi, Kazuo Tsuchiya
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Keywords: Foot rolling motion, bipedal locomotion, stability analysis, Poincare map
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Abstract
The foot rolling motion, including heel strike and toe off, plays an important role in generating bipedal locomotion. This study investigates dynamical influences of this motion based on a simple walking model in which a circular arc is attached to the leg tip. In particular, we achieve approximate periodic solutions of the walking motion and examine its stability using Poincare map.
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© 2007 The Institute of Systems, Control and Information Engineers
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