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Forward dynamic human gait simulation using a SLIP target model
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 planardoi:10.1016/j.piutam.2011.04.015 fatcat:fp6gp3w42jcs3hm3brnh27ecbi