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Optimal Walking Experiments

Two main categorizations can be made in that we explore first walking without any form of lift propulsion. We then add to our biped the possibility of introducing an instantaneous impulsive force at the moment of liftoff to help the body move forward. In both settings, the additional effect of using ankle torques is investigated so that we compare all together 4 distinct cases. Liftoff impulses and ankle torques both help compensate for the absence of a foot in our biped model.

Michael W. Hardt
Mon Oct 11 17:19:43 MET DST 1999