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On the Centre of Mass Motion in Human Walking
Justin Carpentier1; Mehdi Benallegue2; Jean-Paul Laumond1
Source PublicationInternational Journal of Automation and Computing
ISSN1476-8186
2017
Volume14Issue:5Pages:542-551
SubtypeIJAC-HIC-2017-01-006.pdf
AbstractThe center of mass (CoM) is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion: straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a “curtate cycloid”, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.
KeywordHuman locomotion analytical model centre of mass locomotion signature synergies.
DOI10.1007/s11633-017-1088-5
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/42478
Collection学术期刊_International Journal of Automation and Computing
Affiliation1.LAAS-CNRS, University of Toulouse, CNRS, Toulouse, France
2.Humanoids Research Group, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
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GB/T 7714
Justin Carpentier,Mehdi Benallegue,Jean-Paul Laumond. On the Centre of Mass Motion in Human Walking[J]. International Journal of Automation and Computing,2017,14(5):542-551.
APA Justin Carpentier,Mehdi Benallegue,&Jean-Paul Laumond.(2017).On the Centre of Mass Motion in Human Walking.International Journal of Automation and Computing,14(5),542-551.
MLA Justin Carpentier,et al."On the Centre of Mass Motion in Human Walking".International Journal of Automation and Computing 14.5(2017):542-551.
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