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	Modeling and Stability Analysis of Human Normal Walking with Implications for the Evolution of the Foot
	Wang, Qining ; Wei, Kunlin ; Wang, Long ; Lv, Dongjiao
	2010
关键词	PASSIVE DYNAMIC WALKING LOCOMOTION ROBOT
DOI	10.1109/BIOROB.2010.5627767
英文摘要	This paper formulates the mathematical model of a biped that is capable of dynamic walking gaits. The model consists of hip actuation, segmented legs, flat feet and torsional spring based passive ankle stiffness. Using numerical simulations on the proposed model, we find that from the view of stability, there is optimal foot-ankle ratio of the flat-foot bipeds. The results indicate that the human foot proportion is indeed better optimized for dynamic bipedal walking than that of apes, further suggesting the current state of human foot is to some extent the product of positive selection for more stable bipedal locomotion during the evolution of the foot.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000287997100085&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Biophysics; Engineering, Biomedical; Robotics; EI; CPCI-S(ISTP); 1
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316435]
专题	工学院
推荐引用方式 GB/T 7714	Wang, Qining,Wei, Kunlin,Wang, Long,et al. Modeling and Stability Analysis of Human Normal Walking with Implications for the Evolution of the Foot[C]. 见:.

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