• DocumentCode
    3720217
  • 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
  • fYear
    2015
  • Firstpage
    535
  • Lastpage
    538
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
  • Type

    conf

  • DOI
    10.1109/ICRoM.2015.7367840
  • Filename
    7367840
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3720217