@inproceedings{cc740c93136045549dddcc3a3c1b4894,
title = "Motion representation of walking/slipping/turnover for humanoid robot by Newton-Euler method",
abstract = "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.",
keywords = "Bipedal walking, Geometric constraint condition, Newton-Euler method",
author = "Tomohide Maeba and Geng Wang and Fujia Yu and Mamoru Minami and Akira Yanou",
year = "2011",
month = jan,
day = "1",
language = "English",
isbn = "9784907764395",
series = "Proceedings of the SICE Annual Conference",
publisher = "Society of Instrument and Control Engineers (SICE)",
pages = "255--260",
booktitle = "SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts",
note = "50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 ; Conference date: 13-09-2011 Through 18-09-2011",
}