An Efficient Discrete Model of a Simple Biped with a Torso

Abstract

Human locomotion involves a complex integration of muscles activity, central nervous system, and sensory information. Attempts to describe and understand the biomechanics of human locomotion have been made experimentally and mathematically (simulation). Mathematically, biped models with various complexities have been used to study human locomotion using different numerical methods and many features of human locomotion have been verified. In this paper, an optimization based prediction of human gait with its essential features using simple biped with torso is formulated. The biped can “qualitatively” mimic many features of human locomotion including the general behavior of human gait during running and walking.