2013 **Abstract:** Abstract-One of the clear problems encountered in the dynamic response of the biped robot is the discontinuity of the actuating torques/ground reaction forces at the transition instances during transferring form single support phase to double support phase and vice versa. Therefore, this paper suggests the linear transition function used in the biomechanics field for estimating the ground reaction forces during the double support phase such that gradual increase/decrease of the ground reaction forces can occur…

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“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”

confidence: 99%

“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”

confidence: 99%

“…The ZMP location coincides with the location of the center of pressure for the balance walking; however, this is not the case for unbalanced walking. See[47][48][49][50][51][52][53][54][55][56][57] and the references therein for more details.…”

mentioning

confidence: 99%

“…Proof. Let (22) By substituting (19) into (22) we get (23) Since is skew-matrix according to Property 1, then is also skew-matrix. Property 5.…”

confidence: 99%

“…Remark 7. Since the biped robot does not have a unique solution during the DSP, we assume a linear transition function for the ground reaction forces of the front foot (right foot) as follows [7] (18) where , denote the absolute time of the SSP and DSP respectively, is the mass of the center of gravity and represents the acceleration of the biped COG. Whereas the rear foot (left foot) has the following ground reaction forces where is walking step length, is the mass of link (i), ( is the position of COG of link (i), is the number of links, is the moment of inertia about COG of link (i), and denotes the angular acceleration of link (i).…”

confidence: 99%

“…Numerous approaches have been used to generate the motion of biped robot. However, there are three efficient methods have been used successfully for this purpose: Optimization-based gait, COG-based gait and the interpolation-based gait [5][6][7][8]; see the references therein. Despite the miscellaneous walking pattern generation and stabilization approaches, it is difficult to find a thorough method that can tune the walking parameters to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints.…”

confidence: 99%