1
$\begingroup$

I was studying the basics of legged locomotion and came across the unilateral force and torque constraints at the foot-ground interface.

I understood the implication of the unilateral constraint on the force ( the ground can only push the foot but not pull it) but I am unable to understand what does the unilateral torque constraint translate into physically in this case. Can anyone clarify it?

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.