Basis of support
The basis of support , in Robotique, corresponds to the surface covered by the part of the robot which supports it if the projection of the center of gravity contains it. For example in the case of a robot walker, if this last is held on a foot, the basis of support will have the shape of this foot. If it is held on its two feet, the surface of this polygon will be that of the two feet, plus surface interpodale.
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