Compliant leg behaviour explains basic dynamics of walking and running
作者： Hartmut Geyer , Andre Seyfarth , Reinhard Blickhan
关键词: Mechanical system 、 Human locomotion 、 Biomechanics 、 Engineering 、 Parameter space 、 Motion (physics) 、 Gait (human) 、 Transition from walking to running 、 Dynamics (mechanics) 、 Mechanics
摘要: The basic mechanics of human locomotion are associated with vaulting over stiff legs in walking and rebounding on compliant running. However, while well explain the stance dynamics running, cannot reproduce that walking. With a simple bipedal spring–mass model, we show not but essential to obtain mechanics; incorporating double support as an part motion, model reproduces characteristic result observed small vertical oscillation body out-of-phase changes forward kinetic gravitational potential energies. Exploring parameter space this further it only combines running one mechanical system, also reveals these gaits be just two out many solutions legged offered by leg behaviour accessed energy or speed.
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