@inproceedings{033ff1cc83cb41babde417ac48b749c1,
title = "Three-dimensional quasi-passive dynamic bipedal walking with flat feet and compliant ankles",
abstract = "This paper investigates three-dimensional quasipassive dynamic bipedal walking on level ground with flat feet and compliant ankles. We present pointmass dynamic models to analyze and tune the characteristics of the bipedal gait. Simulations are carried out to study the effects of flat feet and ankle stiffness on the stability in both sagittal plane and frontal plane. Based on the theoretical analysis, we construct a robot prototype driven by hip actuation. The implementing of flat feet and coordination of ankle complex allow the prototype to walk on natural ground.",
author = "Qining Wang and Long Wang and Yan Huang and Jinying Zhu and Wei Chen",
year = "2009",
doi = "10.1109/CDC.2009.5399656",
language = "English",
isbn = "9781424438716",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "8200--8205",
booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",
address = "United States",
note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",
}