On the Centre of Mass Motion in Human Walking

doi:10.1007/s11633-017-1088-5

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	On the Centre of Mass Motion in Human Walking
	Justin Carpentier 1; Mehdi Benallegue 2; Jean-Paul Laumond 1
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2017
卷号	14 期号:5 页码:542-551
文章类型	IJAC-HIC-2017-01-006.pdf
摘要	The 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.
关键词	Human locomotion analytical model centre of mass locomotion signature synergies.
DOI	10.1007/s11633-017-1088-5
引用统计	被引频次：21[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42478
专题	学术期刊_Machine Intelligence Research
作者单位	1.LAAS-CNRS, University of Toulouse, CNRS, Toulouse, France 2.Humanoids Research Group, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan
推荐引用方式 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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