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Angular momentum regulation during human walking: Biomechanics and control

April 1, 2004

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M. Popovic, A. Hofmann, and H. Herr. Angular momentum regulation during human walking: Biomechanics and control, IEEE International Conference on Robotics and Automation, vol. 3, pp. 2405–2411, 2004.

Abstract

Motivated by biomechanical studies on human walking, we present a control strategy for biologically realistic walking based on the principle of spin angular momentum regulation. Using a morphologically realistic human model and kinematic gait data, we compute the total spin angular momentum at a self-selected walking speed for one human test subject. We find that dimensionless spin angular momentum remains small (S,/(M~S Height Velocity) C 0.02) throughout the gait cycle, and maximum whole body angular excursions within sagittal (

Popovic-et-al-Angular-Momentum-Regulation.pdf
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