In this paper, four aspects are investigated for the simple walking model, including the limitations on walking speed and step length, the reachable region, the capture region, and the disturbance recovery. The concept of walking orbit is proposed, which describes the walking motion in the state space under walking constraints.
The strengths and weaknesses of inverted pendulum models of human walking
2015年2月1日 · An investigation into the kinematic and kinetic predictions of two “inverted pendulum” (IP) models of gait was undertaken. The first model consisted of a single leg, with anthropometrically correct mass and moment of inertia, and a point mass at the hip representing the rest of the body.
transition behaviors for the bipedal spring-loaded inverted pendu-lum (SLIP) model. We present an event-driven control approach that enables the realization of active running, walking, and walk– run transitions in a unified framework. The synthesis of the con-trolled behaviors is illustrated by the notion of hybrid automaton
Compliant leg behaviour explains basic dynamics of walking and running ...
The inverted pendulum and the spring–mass system are the standard models for walking and running. The model-predicted stance dynamics (red lines) fit experimental data (black traces recorded from human treadmill walking at 1.2 m s −1 and running at 4.0 m s −1) only for the spring–mass model for running. Note that, in the inverted ...
Unified Modeling and Control of Walking and Running on the …
2016年8月26日 · Abstract: This paper addresses the control of steady state and transition behaviors for the bipedal spring-loaded inverted pendulum (SLIP) model. We present an event-driven control approach that enables the realization of active running, walking, and walk-run transitions in a unified framework.
Unified Modeling and Control of Walking and Running on the …
2016年8月28日 · We report on the development and analysis of a new torque-actuated dissipative spring loaded inverted pendulum model with rolling contact (TDR-SLIP), which is a successor to the previously ...
Dexiao-Zhou/The-analyse-of-the-Simplest-Walking-Model
This report presents a detailed simulation and analysis of a model of an inverted pendulum walking on a slope. This model abstracts the complex of human gait into a bipedal system of point masses and rigid rods. The model allows insight into the system dynamics and stability characteristics of walking.
The strengths and weaknesses of inverted pendulum models of human walking
2015年2月1日 · The optimization-based minimal biped model and spring-loaded-inverted-pendulum (SLIP) model are two popular models that can achieve human-like walking patterns. However, ground reaction forces (GRF) from these two …
Three-dimensional spring-loaded inverted pendulum walking model ...
2024年5月8日 · The spring-loaded inverted pendulum (SLIP) model is an effective model to capture the essential dynamics during human walking and/or running. However, most of the existing three-dimensional (3D) SLIP model does not …
The six determinants of gait and the inverted pendulum analogy: …
2007年8月1日 · We examine two prevailing, yet surprisingly contradictory, theories of human walking. The six determinants of gait are kinematic features of gait proposed to minimize the energetic cost of locomotion by reducing the vertical displacement of the body center of …
- 某些结果已被删除