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 2; Mehdi Benallegue 1; Jean-Paul Laumond 2
刊名	International Journal of Automation and Computing
	2017
卷号	14 期号:5 页码:542-551
关键词	Human locomotion analytical model centre of mass locomotion signature synergies.
ISSN号	1476-8186
DOI	10.1007/s11633-017-1088-5
文献子类	IJAC-HIC-2017-01-006.pdf
英文摘要	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.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42478]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Humanoids Research Group, National Institute of Advanced Industrial Science and Technology, Tsukuba, Japan 2.LAAS-CNRS, University of Toulouse, CNRS, Toulouse, France
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.