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http://hdl.handle.net/2117/11391
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| EUCOMES08.pdf | Article | 6.55 MB | Adobe PDF |  |
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| Citació: | Font-Llagunes, J.M.; Kövecses, J. Dynamics of Heel Strike in Bipedal Systems with Circular Feet. A: 2nd European Conference on Mechanism Science. "2nd European Conference on Mechanism Science". Cassino: Marco Ceccarelli, 2008, p. 465-472. |
| Títol: | Dynamics of Heel Strike in Bipedal Systems with Circular Feet |
| Autor: | Font Llagunes, Josep Maria  ; Kövecses, József |
| Editorial: | Marco Ceccarelli |
| Data: | 2008 |
| Tipus de document: | Conference report |
| Resum: | Energetic efficiency is a fundamental subject of research in bipedal robot
locomotion. In such systems, the collision of the foot with the ground at heel strike is
the main cause of energy loss during the gait. In this work, a Lagrangian framework
to study the impulsive dynamics of collisions is presented. Based on the inert constraints of this event, a decomposition of the dynamics to the spaces of constrained
and admissible motions is introduced. It is used to analyze the energy redistribution
at heel strike in circular-feet bipeds. We present results that show the effect of the
foot radius and the impact configuration on the energetic cost of walking. |
| ISBN: | 978-1-4020-8914-5 |
| URI: | http://hdl.handle.net/2117/11391 |
| Apareix a les col·leccions: | Altres. Enviament des de DRAC
Departament d'Enginyeria mecànica. Ponències/Comunicacions de congressos
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