Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches

被引：0
作者：
Yujiang Xiang
Jasbir S. Arora
Karim Abdel-Malek
机构：
[1] The University of Iowa,Virtual Soldier Research (VSR) Program, Center for Computer
来源：
Structural and Multidisciplinary Optimization | 2010年 / 42卷
关键词：
Walking; Gait; Inverted pendulum; Passive dynamics walking; Zero moment point (ZMP); Optimization; Predictive dynamics; Optimal control;
D O I：
暂无
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学科分类号：
摘要：
A review of human walking modeling and simulation is presented. This review focuses on physics-based human walking simulations in the robotics and biomechanics literature. The gait synthesis methods are broadly divided into five categories: (1) inverted pendulum model; (2) passive dynamics walking; (3) zero moment point (ZMP) methods; (4) optimization-based methods; and (5) control-based methods. Features of various methods are discussed, and their advantages and disadvantages are delineated. The modeling, formulation, and computation aspects of each method are reviewed.
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页码：1 / 23
页数：22
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