人类行走的动力学
Dynamics of Human Walking
摘要：
在稳定的速度下，通过拉格朗日制定的速度依赖性，身体驱动力的运动的问题进行了讨论。根据地面合力反作用力和外力做功的数据，对人在水平面上行走进行了分析。结果表明，质心的运动轨迹是由给定速度的直线运动和沿缩短的内摆线的反向转动叠加而成。步行步态之间的刚性，以适应交叉描述和人类行走的最大速度，给出了不稳定的轨迹，预测。关键词：运动，整合生物学，肌肉，两足行走，人类行走，生物力学。
英文摘要：
The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given speed and a backward rotation along a shortened hypocycloid. A stiff-to-compliant crossover between walking gaits is described and the maximum speed for human walking, given by an instability of the trajectory, is predicted. Key words: locomotion, integrative biology, muscles, bipedalism, human walking, biomechanics.
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