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International Journal for Engineering Modelling, Vol. 9 No. 1-4, 1996.

Original scientific paper

Simulation of human locomotion system

Vlasta Zanchi ; Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Split, CROATIA
Mojmil Cecić ; Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, University of Split, Split, CROATIA

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Abstract

The study of human locomotion presents both theoretical and practical interest from the biomechanical and robotics points of view. This paper deals with mathematical modelling of biped gait in the sagital plane, neglecting at the moment motion in the frontal plane. A multi-link system made up of one trunk and two legs will be considered. The Lagrangian for the 5-link 2-D
biped system was carried out and the equations of motion for slow walking speed are given. The computer simulation is performed for different walking speeds. A mathematical model for fast and slow walking is suggested.

Keywords

Hrčak ID:

319430

URI

https://hrcak.srce.hr/319430

Publication date:

22.12.1996.

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