Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Biped gait stabilization via foot placement.

M A Townsend

    Journal of Biomechanics
    |January 1, 1985
    PubMed
    Summary
    This summary is machine-generated.

    Stable bipedal locomotion is achievable through discrete foot placement strategies. These gaits are determined by the center of mass position and velocity at foot placement, offering a simplified approach for robotic applications.

    Related Concept Videos

    You might also read

    Related Articles

    Articles linked to this work by shared authors, journal, and citation graph.

    Sort by
    Same author

    Pre- and post-operative care of a patient with a ruptured intervertebral disc.

    Nursing times·2010
    Same author

    Distribution and sources of nitrate-nitrogen in Kansas groundwater.

    TheScientificWorldJournal·2003
    Same author

    Personal computers and process writing: a written language intervention for deaf children.

    The British journal of educational psychology·1995
    Same author

    Performance in component sports of triathlon events as a function of ability, age, and gender.

    Perceptual and motor skills·1995
    Same author

    Children's attitudes toward peers with intellectual disability.

    Journal of intellectual disability research : JIDR·1993
    Same author

    The effects of training in social perspective taking on socially maladjusted girls.

    Child development·1990
    Same journal

    Shear wave velocity of biceps femoris and medial gastrocnemius in different positions and intensities: a cross-sectional study in healthy young males.

    Journal of biomechanics·2026
    Same journal

    Gait event detection using hybrid EMG/IMU systems: effect of SENIAM-constrained sensor placement on lower limb segments.

    Journal of biomechanics·2026
    Same journal

    Relationship between knee adduction moment and knee contact forces during walking and running with modified foot progression angles.

    Journal of biomechanics·2026
    Same journal

    Scaling contact force parameters across body size, limb count, and number of contact spheres.

    Journal of biomechanics·2026
    Same journal

    The extrapolated body center of mass predicts subsequent foot placement choice during dynamic single-leg landings.

    Journal of biomechanics·2026
    Same journal

    Lateral reactive stepping responses differ between individuals with and without transfemoral amputation.

    Journal of biomechanics·2026
    See all related articles

    Area of Science:

    • Biomechanics
    • Robotics
    • Control Theory

    Background:

    • Bipedal locomotion stability is a complex challenge in robotics and biomechanics.
    • Previous models often involve intricate coordination of multiple body segments.

    Purpose of the Study:

    • To develop and validate a simplified model for achieving stable bipedal gaits.
    • To investigate the feasibility of discrete foot placement control for legged robots.

    Main Methods:

    • Utilized a generalized inverted pendulum model with a movable support point.
    • Developed algorithms defining foot placement as a linear function of center of mass position and velocity.
    • Simulated both non-impulsive gaits and impulsive corrections.

    Main Results:

    Related Experiment Videos

    • Stable biped gaits can be achieved using discrete foot placement based on center of mass state.
    • Model predictions closely matched published experimental data, validating the algorithms.
    • Identified non-sinusoidal motion characteristics and simple control algorithms.

    Conclusions:

    • The proposed discrete foot placement algorithms are effective for stable bipedal locomotion.
    • The simplicity of the control strategy suggests practical applications for legged mobile robots.
    • Further research into parametric variation and control is warranted.