Modeling and stability analysis of human normal walking with implications for the evolution of the foot

Qining Wang; Kunlin Wei; Long Wang; Dongjiao Lv

doi:10.1109/BIOROB.2010.5627767

Modeling and stability analysis of human normal walking with implications for the evolution of the foot

Qining Wang
, Kunlin Wei
, Long Wang
, Dongjiao Lv

Peking University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

This paper formulates the mathematical model of a biped that is capable of dynamic walking gaits. The model consists of hip actuation, segmented legs, flat feet and torsional spring based passive ankle stiffness. Using numerical simulations on the proposed model, we find that from the view of stability, there is optimal foot-ankle ratio of the flat-foot bipeds. The results indicate that the human foot proportion is indeed better optimized for dynamic bipedal walking than that of apes, further suggesting the current state of human foot is to some extent the product of positive selection for more stable bipedal locomotion during the evolution of the foot.

Original language	English
Title of host publication	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages	479-484
Number of pages	6
DOIs	https://doi.org/10.1109/BIOROB.2010.5627767
State	Published - 2010
Externally published	Yes
Event	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan Duration: 26 Sep 2010 → 29 Sep 2010

Publication series

Name	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference	2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Country/Territory	Japan
City	Tokyo
Period	26/09/10 → 29/09/10

Access to Document

10.1109/BIOROB.2010.5627767

Cite this

Wang, Q., Wei, K., Wang, L., & Lv, D. (2010). Modeling and stability analysis of human normal walking with implications for the evolution of the foot. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 479-484). Article 5627767 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5627767

Wang, Qining ; Wei, Kunlin ; Wang, Long et al. / Modeling and stability analysis of human normal walking with implications for the evolution of the foot. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 479-484 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010).

@inproceedings{8a40f909852a4998b324e3f7a7220630,

title = "Modeling and stability analysis of human normal walking with implications for the evolution of the foot",

abstract = "This paper formulates the mathematical model of a biped that is capable of dynamic walking gaits. The model consists of hip actuation, segmented legs, flat feet and torsional spring based passive ankle stiffness. Using numerical simulations on the proposed model, we find that from the view of stability, there is optimal foot-ankle ratio of the flat-foot bipeds. The results indicate that the human foot proportion is indeed better optimized for dynamic bipedal walking than that of apes, further suggesting the current state of human foot is to some extent the product of positive selection for more stable bipedal locomotion during the evolution of the foot.",

author = "Qining Wang and Kunlin Wei and Long Wang and Dongjiao Lv",

year = "2010",

doi = "10.1109/BIOROB.2010.5627767",

language = "英语",

isbn = "9781424477081",

series = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010",

pages = "479--484",

booktitle = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010",

note = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 ; Conference date: 26-09-2010 Through 29-09-2010",

}

Wang, Q, Wei, K, Wang, L & Lv, D 2010, Modeling and stability analysis of human normal walking with implications for the evolution of the foot. in 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010., 5627767, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, pp. 479-484, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, Japan, 26/09/10. https://doi.org/10.1109/BIOROB.2010.5627767

Modeling and stability analysis of human normal walking with implications for the evolution of the foot. / Wang, Qining; Wei, Kunlin; Wang, Long et al.
2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 479-484 5627767 (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modeling and stability analysis of human normal walking with implications for the evolution of the foot

AU - Wang, Qining

AU - Wei, Kunlin

AU - Wang, Long

AU - Lv, Dongjiao

PY - 2010

Y1 - 2010

N2 - This paper formulates the mathematical model of a biped that is capable of dynamic walking gaits. The model consists of hip actuation, segmented legs, flat feet and torsional spring based passive ankle stiffness. Using numerical simulations on the proposed model, we find that from the view of stability, there is optimal foot-ankle ratio of the flat-foot bipeds. The results indicate that the human foot proportion is indeed better optimized for dynamic bipedal walking than that of apes, further suggesting the current state of human foot is to some extent the product of positive selection for more stable bipedal locomotion during the evolution of the foot.

AB - This paper formulates the mathematical model of a biped that is capable of dynamic walking gaits. The model consists of hip actuation, segmented legs, flat feet and torsional spring based passive ankle stiffness. Using numerical simulations on the proposed model, we find that from the view of stability, there is optimal foot-ankle ratio of the flat-foot bipeds. The results indicate that the human foot proportion is indeed better optimized for dynamic bipedal walking than that of apes, further suggesting the current state of human foot is to some extent the product of positive selection for more stable bipedal locomotion during the evolution of the foot.

UR - https://www.scopus.com/pages/publications/78650343692

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DO - 10.1109/BIOROB.2010.5627767

M3 - 会议稿件

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SN - 9781424477081

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BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

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Y2 - 26 September 2010 through 29 September 2010

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Wang Q, Wei K, Wang L, Lv D. Modeling and stability analysis of human normal walking with implications for the evolution of the foot. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 479-484. 5627767. (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). doi: 10.1109/BIOROB.2010.5627767

Modeling and stability analysis of human normal walking with implications for the evolution of the foot

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