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2010, Volume 7, Issue 3: 479-504. Doi: 10.3934/mbe.2010.7.479
This issue Previous Article Next Article A method for analyzing the stability of the resting state for a model of pacemaker cells surrounded by stable cells

Impact dynamics in biped locomotion analysis: Two modelling and implementation approaches

  • 1.

    University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, Bâtiment 2, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde

  • 2.

    Robotics department, Mihajlo Pupin Institute, University of Belgrade, Zvezdara, Volgina 15, 11060 Belgrade

Received:  August 31, 2009
Revised:  November 30, 2009
Published:  May 2010
Abstract Related Papers Cited by
    Abstract
  • Stability during the biped locomotion and especially humanoid robots walking is a big challenge in robotics modelling. This paper compares the classical and novel methodologies of modelling and algorithmic implementation of the impact/contact dynamics that occurs during a biped motion. Thus, after establishing the free biped locomotion system model, a formulation using variational inequalities theory via a Linear Complementarity Problem then an impedance model are explicitly developed. Results of the numerical simulations are compared to the experimental measurements then the both approaches are discussed.
    Mathematics Subject Classification: 90C33, 70E18, 37M05.

    Citation:
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