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
U2 - 10.1109/BIOROB.2010.5627767
DO - 10.1109/BIOROB.2010.5627767
M3 - 会议稿件
AN - SCOPUS:78650343692
SN - 9781424477081
T3 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
SP - 479
EP - 484
BT - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
T2 - 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Y2 - 26 September 2010 through 29 September 2010
ER -