A novel technique of dead reckoning for biped robots based on the estimation of contact points is proposed. In our previous work, that point is calculated on the assumption that its velocity with respect to the link frame is ignored. Although its assumption is reasonable in the case of the rotation about the fixed contact point, it is not appropriate in the case of the rolling contact in which the contact point moves. For this problem, we propose a novel method to calculate the instantaneous minimum velocity point. This method calculates the position and velocity with respect to the link frame at the same time. The validity of the proposed method is verified through a simulation of the robot motion with toe and heel contact
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