Title :
A new ground contact model for the simulation of bipeds´ walking, running and jumping
Author :
Abbas Ehsaniseresht;Majid Mohammadi Moghaddam
Author_Institution :
Department of mechanical engineering, Hakim Sabzevari University, Sabzevar, Iran
Abstract :
In this paper a new ground contact model (GCM) for the calculation of foot-ground reaction forces (GRF) is presented. The model is appropriate for the simulation of walking, running and jumping of human and biped robots. To ensure this capability, some criteria of a proper GCM are introduced and it is shown that the new GCM passes all these criteria. Finally, the GCM is used for the simulation of human walking on a treadmill.
Keywords :
"Legged locomotion","Foot","Mathematical model","Friction","Force","Biological system modeling"
Conference_Titel :
Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
DOI :
10.1109/ICRoM.2015.7367840
