Examining human walking characteristics with a telescopic compass-like biped walker model

S. Miyakoshi, Gordon Cheng
2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)  
A model for biped walking is proposed. The model has a compass-like mechanism with telescopic type legs, and uses a simple leg stretch-contraction motion pattern. The model with a point shaped foot is able to represent human walking characteristics. A systematic conversion from the point shaped foot to the equivalent of a normal surface foot -resembling the shape that of humans, this extension preserves the same human-like walking characteristics while gaining the benefits of added stability
more » ... the reduction of impact forces during foot contact.
doi:10.1109/icsmc.2004.1399850 dblp:conf/smc/MiyakoshiC04 fatcat:3fykhtteozahzhepwvzmhxlqee