Ground reaction force analysis of biped locomotion

Yuksel B., Zhou C., Leblebicioglu K.

IEEE Conference on Robotics, Automation and Mechatronics, Singapore, Singapore, 1 - 03 December 2004, pp.330-335 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Singapore
  • Country: Singapore
  • Page Numbers: pp.330-335
  • Middle East Technical University Affiliated: Yes


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.