An analytical model of rolling contact and its application to the modeling of bipedal locomotion

DOI10.19124/ima.2015.001.08zbMath1500.74047MaRDI QIDQ5092736

Jean-Paul Laumond, Justin Carpentier, Andrea Del Prete, Nicolas Mansard

Publication date: 22 July 2022

Published in: Proceedings of the IMA Conference on Mathematics of Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.19124/ima.2015.001.08

zbMATH Keywords

ellisoidal foot model; humanoid walk modeling; optimal walk

Mathematics Subject Classification ID

74M15: Contact in solid mechanics

70E60: Robot dynamics and control of rigid bodies

74L15: Biomechanical solid mechanics

70E18: Motion of a rigid body in contact with a solid surface