Salem Cherenet

For legged locomotion, dynamic balance is one of the most important things to consider. In this paper we considered a foot placement strategy for dynamic balance by modeling the system as bipedal linear inverted pendulum model which is based of the linear inverted pendulum model introduced by Kajita et al. Unlike the linear inverted pendulum model, this model included double support and single support phases. The results of the simulation showed the same force behavior as it would be expected from a linear inverted pendulum