Forward dynamic human gait simulation using a SLIP target model

Matthew Millard, Eric Kubica, John McPhee
2011 Procedia IUTAM  
Anthropomorphic multibody models typically have a fragile sense of balance and generate ground reaction force profiles that do not look similar to experimentally measured human ground reaction force profiles. In contrast, the point-mass spring-loaded-inverted-pendulum (SLIP) can be made to walk or run in a balanced manner with centerof-mass kinematics and ground reaction force profiles that could be mistaken for the equivalent human data. A stance limb controller is proposed that uses a planar
more » ... LIP to compute a reference trajectory for a planar anthropomorphic multibody gait model. The torso of the anthropomorphic model is made to track the computed trajectory of the SLIP using a feedback control system. The aim of this partitioned approach to gait simulation is to endow the anthropomorphic model with the human-like gait of the simpler SLIP model.
doi:10.1016/j.piutam.2011.04.015 fatcat:fp6gp3w42jcs3hm3brnh27ecbi