Multi-Step Forward Dynamic Gait Simulation

摘要: Forward dynamic simulations of anthropomorphic human models are becoming increasingly investigated as an alternative to inverse analyses ([1] and [2]). typically forced into a walking pattern using pre-computed joint trajectories reminiscent central generator. Simple balance controllers inspired from similar work in the robotics field [3] allow walk for many steps. The current implements 2D, 7-segment, 9-degree-of-freedom gait model coupled with optimization routine find minimally fatiguing gait.