Question

Explain the inverted pendulum for modeling human gait. Then explain why can't this model be a good choice for human running?

Answer 1

Explanation:

Inverted pendulum Model has been widely used for modeling motion gaits . There is a common condition in most of these models, the reaction force between the floor and the humanoid must go through the CoG of the a humanoid or human being. However , the recent bio-mechanical studies show that there are angular moments around CoG of a human being motion.In other words, the reaction force does not necessarily pass through the CoG. In this paper , the motion of IPM is analyzed by taking into consideration two kinds of rotational moments, namely around the pivot and around the CoG. The human motion has been decomposed into the sigittal plane and front plane in the double support phase.

The motion of the IPM in these four different phases are derived by solving four differential equations with boundary conditions. Simultation results show that a stable human gait is synthesized by using our proposed IPM