However, a large foot may cause interference between the two feet.
The motion trajectories for the biped's body and its two feet are modeled by piecewise cubic polynomials.
A short time from now, it has become two feet long.
The audience unanimously rose to its feet in a standing ovation.
Since both feet are in contact with the ground, a closed kinematic chain is formed by the two legs and the ground.
Therefore, during the single support phase, the model is identical to a robot with unactuated point feet.
Interestingly, the model with the largest radius feet did not have the highest percentage of reaching the end of the board.
Circular feet smoothen the hip trajectory and thus relax the initial velocity requirement.
