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

DOI10.19124/IMA.2015.001.08MaRDI QIDQ5092736zbMATH OpenOpenAlexFDO

Authors Justin Carpentier, Andrea Del Prete, Nicolas Mansard, J.-P. Laumond

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 modelhumanoid walk modelingoptimal walk

Mathematics Subject Classification ID

Biomechanical solid mechanics (74L15) Robot dynamics and control of rigid bodies (70E60) Contact in solid mechanics (74M15) Motion of a rigid body in contact with a solid surface (70E18)

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Cited in

(5)

• Impact dynamics in biped locomotion analysis: two modelling and implementation approaches
• scientific article; zbMATH DE number 5532082 (Why is no real title available?)
• Rigid vs compliant contact: an experimental study on biped walking
• Foot-ground contact modeling within human gait simulations: from Kelvin-Voigt to hyper-volumetric models
• A 3D ellipsoidal volumetric foot-ground contact model for forward dynamics

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