On the Centre of Mass Motion in Human Walking

作     者：Justin Carpentier Mehdi Benallegue Jean-Paul Laumond 

作者机构：LAAS-CNRSUniversity of Toulouse Humanoids Research GroupNational Institute of Advanced Industrial Science and Technology 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2017年第14卷第5期

页      面：542-551页

核心收录：

学科分类：08[工学] 09[农学] 0901[农学-作物学] 0836[工学-生物工程] 090102[农学-作物遗传育种] 

基　　金：supported by the European Research Council through the Actanthrope Project and the French National Research Agency Project Loco3D 

主　　题：Human locomotion analytical model centre of mass locomotion signature synergies. 

摘      要：The center of mass （CoM） is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion： straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a ＂curtate cycloid＂, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.