사람의 보행을 재현하는 3 차원 탄성각 보행 모델 연구

Abstract

There have been many attempts to describe the human waking using spring dynamics and the spring-legged inverted pendulum (SLIP) model is well known for its capability of representing the dynamics of walking with respect to the sagittal plane. However, there are limitations for the previous models to describe three dimensional ground reaction forces and movement of the center of mass (CoM) including the frontal plane, since it is limited to two dimensional space. In this research, we verified that the passive 3D SLIP model can demonstrate the complete walking cycle and can represent the walking dynamics for various walking speeds. The SLIP model consists of a point mass and two massless compliant legs. To define the touchdown, two kinds of angles are defined – an angle between the leg and vertical, and an angle between the leg and the velocity vector of the CoM. The limit cycles had been found with model simulation and the stability had been verified by evaluating the eigenvalues of Jacobian matrix. The 3D SLIP model we established in this study had stable limit cycles and could qualitatively represent the dynamics of walking which shows different features with respect to walking speed. The result shows that the spring dynamics can be used as a simple framework to describe human walking in three dimensional space, by expanding two dimensional SLIP model to the three dimensions.