Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method

This paper proposes a formulation of dynamical equation of bipedal walking model of humanoid robot with foot by Newton-Euler Method well-known in robotics field as a calculation scheme of dynamics, which can describe a dynamical effect of foot´s slipping without any approximation. This formulation including kicking torque of foot inevitably and naturally generates sequential variety in dynamical walking gait pattern - derived from orders of detaching/landing sequences - which has been ignored in case of round-foot or point-foot model.