In steady human walking and running, every step is similar to every other, but they are not all identical. That is, the motion is nearly but not exactly periodic. In this paper, we construct models of the dynamics near the periodic motion of human locomotion from the near-periodic steady data. We use a sequence of Poincare sections (transverse to the periodic orbit) in the neighborhood of the periodic orbit and linearized dynamics of the state from one Poincare section to the next, essentially resulting in a piecewise linear dynamical system around the periodic orbit. Using human locomotion data obtained from a high-accuracy motion capture system, a piecewise linear dynamical model is constructed to represent human running/walking. The piecewise linear model can predict human transient dynamics under various circumstances. We show responses to perturbations to the swing leg.

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