Adaptive control of the heel-off to toe-off motion of a dynamic biped gait

An adaptive method for the control of the heel-off to toe-off motion of a dynamic biped gait is presented in this paper. The reaction force between the ground and the biped foot is an important factor in a satisfactory implementation of dynamic gait. This force must be properly controlled while the foot is in the heel-off to toe-off phase. Since the foot rolls over the ground surface in this phase, and the global description of the surface is unknown, the foot has to execute a nonholonomic constraint motion. The formulations of nonholonomic constraints and system dynamics under the constraints are derived for the roll-over motion. An adaptive control method is designed based on the formulations