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

DOI10.19124/IMA.2015.001.08zbMath1500.74047OpenAlexW2595406941MaRDI QIDQ5092736

Justin Carpentier, Andrea Del Prete, Jean-Paul Laumond, 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 modelhumanoid walk modelingoptimal walk

Mathematics Subject Classification ID

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

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