dorsal/arxiv
View SchemaDynamics of Human Walking
| Authors | Valery B. Kokshenev |
|---|---|
| Categories | |
| ArXiv ID | physics/0404089 |
| URL | https://arxiv.org/abs/physics/0404089 |
| DOI | 10.1103/PhysRevLett.93.208101 |
Abstract
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given speed and a backward rotation along a shortened hypocycloid. A stiff-to-compliant crossover between walking gaits is described and the maximum speed for human walking, given by an instability of the trajectory, is predicted. Key words: locomotion, integrative biology, muscles, bipedalism, human walking, biomechanics.
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"abstract": "The problem of biped locomotion at steady speeds is discussed through a\nLagrangian formulation developed for velocity-dependent, body driving forces.\nHuman walking on a level surface is analyzed in terms of the data on the\nresultant ground-reaction force and the external work. It is shown that the\ntrajectory of the center of mass is due to a superposition of its rectilinear\nmotion with a given speed and a backward rotation along a shortened\nhypocycloid. A stiff-to-compliant crossover between walking gaits is described\nand the maximum speed for human walking, given by an instability of the\ntrajectory, is predicted.\n Key words: locomotion, integrative biology, muscles, bipedalism, human\nwalking, biomechanics.",
"arxiv_id": "physics/0404089",
"authors": [
"Valery B. Kokshenev"
],
"categories": [
"physics.bio-ph"
],
"doi": "10.1103/PhysRevLett.93.208101",
"title": "Dynamics of Human Walking",
"url": "https://arxiv.org/abs/physics/0404089"
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