Ground reaction force analysis of biped locomotion

Date

2004-12-03

Author

Yuksel, B
Zhou, CJ
Leblebicioğlu, Mehmet Kemal

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This paper aims to analyze the ground reaction force in terms of smooth transition and landing impact under the parametric change of frontal gait trajectory that is realized by inverted pendulum model and the parametric change in the proportional gain of PID feedback controller. Using a dynamic simulator, namely, SL Simulator, the ground reaction force analysis is realized and the simulation results and comparison of them are presented.

Subject Keywords

Biped locomotion, Ground reaction force (GRF), Controller gain parameter adjustment, Dynamic simulation, Landing impact and smooth transition

URI

https://hdl.handle.net/11511/54760

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

B. Yuksel, C. Zhou, and M. K. Leblebicioğlu, “Ground reaction force analysis of biped locomotion,” 2004, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54760.