Abstract：The sliding and bouncing which occurs when the swing leg is contacting the ground destroys the direct support-phase transfer during biped walking. In this paper, we attempt to solve this problem. The whole process of landing impact is analysized through dynamic modeling on a biped mechanism, and a motion simulation is carried out to show how the post-impact states of the biped are affected by some factors. Basing on the experimental results, we provide the conditions that must hold to prevent sliding and bouncing at impact and the factors that determine the post-impact walking velocity.
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