相关论文: Dynamics of Human Walking

In human crowds, interactions among individuals give rise to a variety of self-organized collective motions that help the group to effectively solve the problem of coordination. However, it is still not known exactly how humans adjust their…

In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they…

The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…

The acceleration of a light buoyant object in a fluid is analyzed. Misconceptions about the magnitude of that acceleration are briefly described and refuted. The notion of the added mass is explained and the added mass is computed for an…

We present a nonlinear stochastic model of the human gait control system in a variety of gait regimes. The stride interval time series in normal human gait is characterized by slightly multifractal fluctuations. The fractal nature of the…

Successfully achieving bipedal locomotion remains challenging due to real-world factors such as model uncertainty, random disturbances, and imperfect state estimation. In this work, we propose a novel metric for locomotive robustness -- the…

The presence of temporal correlations in random movement trajectories is a widespread phenomenon across biological, chemical and physical systems. The ubiquity of persistent and anti-persistent motion in many natural and synthetic systems…

This paper introduces a spatially continuous force-based model for simulating pedestrian dynamics. The main intention of this work is the quantitative description of pedestrian movement through bottlenecks and in corridors. Measurements of…

The fractality of human gait, namely, the long-range correlation that characterizes scale-free fluctuations of gait descriptors, such as the stride intervals during steady-state walking, depends on the well-tuned organization of the…

Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…

We analyze, from the thermodynamical point of view, mechanical systems in which there is production of mechanical energy due to an internal source of energy, and compare that analysis with the similar one for the "symmetric" motion which…

This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…

There are different physics-based approaches for analysing pedestrian movement. Physics-based methods like statistical mechanics-based models apply the laws of physics to drive equations for analysing crowd behaviour. This paper will…

A kind of fluid dynamic description for the collective movement of pedestrians is developed on the basis of a Boltzmann-like gaskinetic model. The differences between these pedestrian specific equations and those for ordinary fluids are…

We study the motion of the system, S, constituted by a rigid body, B, containing in its interior a viscous compressible fluid, and moving in absence of external forces. Our main objective is to characterize the long time behavior of the…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…

In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…

Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…

Motility is characteristic of life, but a common basis for movement has remained to be identified. Diverse systems in motion shift between two states depending on interactions that turnover at the rate of an applied cycle of force. Although…