Journal
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING
Volume 14, Issue 5, Pages 542-551Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s11633-017-1088-5
Keywords
Human locomotion; analytical model; centre of mass; locomotion signature; synergies
Funding
- European Research Council through the Actanthrope Project
- French National Research Agency Project Loco3D
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The center of mass (CoM) is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion: straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a curtate cycloid, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.
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