Dynamic simulation of biped walking on loose soil

Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

Original languageEnglish
Article number1250032
JournalInternational Journal of Humanoid Robotics
Issue number4
Publication statusPublished - 2012 Dec
Externally publishedYes


  • Biped walking
  • loose soil
  • terramechanics

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence


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