Analysing Human Walking Using Dynamic Optimisation

Abstract

A mathematical model to simulate human walking motions and study the dynamics behind walking is developed which is adjustable to accommodate different cases such as the single and double support phases of walking. We first propose a technique for estimating joint moments and position coordinates of body segments using the method of inverse dynamics. The estimates are then used as initial joint torques for solving the model as an optimal control problem with the setup of appropriate objective functions and constraints. Numerical experiments on the developed model and solution technique have been performed and the numerical results show that the model is able to replicate human walking motions and the optimal joint torques can be calculated to produce the resulting motions.

Feasible speeds for two optimal periodic walking gaits of a planar biped robot

“…17 The numerical results show that the performances with a four-bar linkage are worst for the smaller velocities and better for the higher velocities. Tan et al 18 proposed a finite time double support phase that begins when the swing foot strikes the ground and finishes with the support foot toe-off. The inverse dynamic model is used to optimize a walking gait with the objective that the trunk remains upright.…”