A methodology for the incorporation of arbitrarily-shaped feet in passive bipedal walking dynamics
Aikaterini Smyrli,Evangelos Papadopoulos,Aikaterini Smyrli,Evangelos Papadopoulos
A methodology for implementing arbitrary foot shapes in the passive walking dynamics of biped robots is developed. The dynamic model of a walking robot is defined in a way that allows shape-dependent foot kinetics to contribute to the robot's dynamics, for all convex foot shapes regardless of the exact foot geometry: for the developed method, only the set of points describing the foot profile curv...
