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.
- Dynamic Systems and Control Division
System Identification and Stability Analysis of Steady Human Walking and the Swing Leg Dynamics
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Wang, Y, & Srinivasan, M. "System Identification and Stability Analysis of Steady Human Walking and the Swing Leg Dynamics." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 19-23. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8663
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