scholarly journals On the historical development of human walking dynamics

PAMM ◽  
2011 ◽  
Vol 11 (1) ◽  
pp. 903-906 ◽  
Author(s):  
Werner Schiehlen
Keyword(s):  
Historical Development ◽  
Human Walking ◽  
Walking Dynamics

scholarly journals Walking dynamics are symmetric (enough)

2015 ◽  
Vol 12 (108) ◽  
pp. 20150209 ◽  
Author(s):  
M. Mert Ankaralı ◽  
Shahin Sefati ◽  
Manu S. Madhav ◽  
Andrew Long ◽  
Amy J. Bastian ◽  
...  
Keyword(s):  
Steady State ◽  
Dynamical Systems ◽  
Cross Validation ◽  
Sagittal Plane ◽  
Bilateral Symmetry ◽  
Human Locomotion ◽  
Human Walking ◽  
Biological Phenomena ◽  
Systems Modelling ◽  
Walking Dynamics

Many biological phenomena such as locomotion, circadian cycles and breathing are rhythmic in nature and can be modelled as rhythmic dynamical systems. Dynamical systems modelling often involves neglecting certain characteristics of a physical system as a modelling convenience. For example, human locomotion is frequently treated as symmetric about the sagittal plane. In this work, we test this assumption by examining human walking dynamics around the steady state (limit-cycle). Here, we adapt statistical cross-validation in order to examine whether there are statistically significant asymmetries and, even if so, test the consequences of assuming bilateral symmetry anyway. Indeed, we identify significant asymmetries in the dynamics of human walking, but nevertheless show that ignoring these asymmetries results in a more consistent and predictive model. In general, neglecting evident characteristics of a system can be more than a modelling convenience—it can produce a better model.

scholarly journals Walking crowds on a shaky surface: stable walkers discover Millennium Bridge oscillations with and without pedestrian synchrony

2018 ◽  
Vol 14 (10) ◽  
pp. 20180564 ◽  
Author(s):  
Varun Joshi ◽  
Manoj Srinivasan
Keyword(s):  
Collective Behaviour ◽  
Three Dimensions ◽  
Metabolic Energy ◽  
Human Walking ◽  
Walking Dynamics ◽  
Millennium Bridge

Why did the London Millennium Bridge shake when there was a big enough crowd walking on it? What features of human walking dynamics when coupled to a shaky surface produce such shaking? Here, we use a simple biped model capable of walking stably in three dimensions to examine these questions. We simulate multiple such stable bipeds walking simultaneously on a bridge, showing that they naturally synchronize under certain conditions, but that synchronization is not required to shake the bridge. Under such shaking conditions, the simulated walkers increase their step widths and expend more metabolic energy than when the bridge does not shake. We also find that such bipeds can walk stably on externally shaken treadmills, synchronizing with the treadmill motion for a range of oscillation amplitudes and frequencies. Our simulations illustrate how interactions between (idealized) bipeds through the walking surface can produce emergent collective behaviour that may not be exhibited by just a single biped.

Visual Lifting Approach for Bipedal Walking with Slippage

2017 ◽  
Vol 29 (3) ◽  
pp. 500-508 ◽  
Author(s):  
Xiang Li ◽  
◽  
Mamoru Minami ◽  
Takayuki Matsuno ◽  
Daiji Izawa
Keyword(s):  
Visual Perception ◽  
Bipedal Walking ◽  
Human Walking ◽  
Biped Locomotion ◽  
Control Methods ◽  
Impact Surface ◽  
Walking Motion ◽  
Walking Dynamics ◽  
Simulation Results ◽  
Zero Moment

[abstFig src='/00290003/05.jpg' width='300' text='Concept of visual lifting approach' ] Biped locomotion generated by control methods based on Zero-Moment Point (ZMP) has been achieved and its efficacy for stable walking, where ZMP-based walking does not include the falling state, has been verified extensively. The walking control that does not depend on ZMP – we call it dynamical walking – can be used in walking that utilizes kicks by toes, which looks natural but is vulnerable to turnover. Therefore, keeping the walking of dynamical motion stable is indispensable to the realization of human-like natural walking – the authors perceive the human walking, which includes toe off states, as natural walking. Our research group has developed a walking model, which includes slipping, impact, surface-contacting and line-contacting of foot. This model was derived from the Newton-Euler (NE) method. The “Visual Lifting Approach” (VLA) strategy inspired from human walking motion utilizing visual perception, was used in order to enhance robust walking and prevent the robot from falling, without utilizing ZMP. The VLA consists of walking gate generation visual lifting feedback and feedforward. In this study, simulation results confirmed that bipedal walking dynamics, which include a slipping state between foot and floor, converge to a stable walking limit cycle.

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