title: Impact dynamics in biped locomotion analysis: two modelling and implementation approaches.
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.
authors.affiliation: University of La Réunion, Analyse et Ingénierie Mathématique AIM/LIM EA 2525, Parc Technologique Universitaire, 2 rue Joseph Wetzell, 97490 Sainte-Clotilde, France. khalid.addi@univ-reunion.fr
authors.forename: Khalid
authors.initials: K
authors.lastname: Addi
authors.forename: Aleksandar D
authors.initials: AD
authors.lastname: Rodić
mesh_terms: D001696:Biomechanical Phenomena / Q000502:physiology; D003198:Computer Simulation; D005684:Gait / Q000502:physiology*; D006801:Humans; D008124:Locomotion / Q000502:physiology*; D008954:Models, Biological; D012371:Robotics / Q000379:methods*