Dynamic analysis of human walking

Abstract

Synthetising realistic animations of human gures should bene t from both a priori biomechanical knowledge on human motion and physically-based simulation techniques, eager to adapt motion to the speci c environment in which it takes place. This paper performs a rst step towards this goal, by computing and analyzing the internal actuator forces involved when the human gure performs speci c walk motions. The computations rely on a robust simulator where forward and inverse dynamics are combined with automatic collision detection and response. The force curves we obtain give interesting information on the respective action of muscles in various styles of walks. Our further plans include parameterizing them and using them to control physically-based simulations of walk motions.

Design of a reliable processing pipeline for the non-intrusive measurement of feet trajectories with lasers

“…Such a filter requires to specify a model of motion. Several models of the human walk have been described and used in the literature in order to analyze RLS data [2,8,10,12,21,23,25,37,38,41]. The role of such a model is to help filtering out the component of the signal which does not correspond to the movement predicted by the model.…”

Dynamic simulation of articulated rigid bodies with contact and collision

“…[44], but departs from our focus on dynamic simulation. In the area of simulation, [45], [46] implemented recursive algorithms with [46] able to handle closed loops, [47] used a Lagrange multiplier approach for protein modeling, [48] proposed using impulses to treat collisions while inserting springs to model contact, and [7] used a mix of impulses, temporary joint constraints, and the method of [49] to model collision, contact and friction. [50], [51] proposed an O(n) method although it required loop decomposition, dealt with only a handful of rigid bodies, and presented no clear method for handling large numbers of unpredictable contact and collision events.…”

“…number of loop closures and contact points (although [7], [8] worked to treat closed loops iteratively somewhat improving the situation). [9], [10] reformulated the algorithm of [1] in the context of generalized coordinates showing that one obtains essentially the same equations and complexity, but with less degrees of freedom since some of them are automatically eliminated.…”

STEP: a Scripting Language for Embodied Agents

“…As analysed in [7,20], a realistic animation of walk motions of human figure involves many computations which rely on a robust simulator where forward and inverse kinematics are combined with automatic collision detection and response. It is not our intention to use the scripting language to achieve a fully realistic animation of the walk action, because they are seldom necessary for most web applications.…”