engleski

Simulation of Human Locomotion System

The study of human locomotion presents both theoretical and practical interest from the biomechanical and robotics point of view. The 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 5-link 2-D biped system was carried out and the equation of motion for slow walking speed are given. The computer simulation is performed for different walking speed. Mathematical model for fast and slow walking is suggested.

Lagrangian dynamics; locomotion; biomechanics

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