Assertion: biped's foot | /r/CapableOf | touch the ground
Facets:
value: next
type: MANNER
value: during the stance phase
type: TEMPORAL
Source sentences:
text: The equations of motion when only one foot touches the ground (single-stance phase) or when neither foot touches the ground (flight phase) are obtained by setting one or both leg forces to zero in equation ( 2.1 ).
text: In specific circumstances, such as ground conditions, some ape feet perform better than human feet in terms of bipedal standing, as they have a larger RPL (ratio of the power arm to the load arm) and reduce the muscle force when the foot contacts the ground.
text: The equations of motion when only one foot touches the ground (single-stance phase) or when neither foot touches the ground (flight phase) are obtained by setting one or both leg forces to zero in equation ( 2.1 ).
text: Given that a biped has only one foot touching the ground during most of the time of a gait cycle, this poses huge difficulties for dynamic control, as the biped always tends to trip or fall.
text: During the stance phase (black blocks), the foot touches the ground.
text: Thus, when the subject picked up a food item, both feet and one hand touched the ground while the other hand grasped the mealworm.
text: In detail, suppose the horse starts by lifting its left front leg (the other three feet are touching the ground).
text: Next, the left front foot touches the ground (the horse is now supported by all but the right hind leg); then the horse lifts its right front leg (it is now supported laterally on both left legs), and shortly afterwards it sets down the right rear leg (only the front right leg is now lifted).
text: These equations apply directly to the double support phase, when both feet contact the ground.
text: The DSP arises when both feet contact the ground, resulting in a closed-chain mechanism, and the SSP starts when the rear foot is not supported by the ground and the front foot is flat on the ground.