Passive, Nonlinear-Dynamic Study of Walking: Simulation, Analysis, and Experiment

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9806612RuinaThe goal of this research is to develop a model for bipedal motion which uses little or no active motion. Rather, locomotion is modeled via a strictly passive motion similar to those walking toys that walk down an incline. The model would be advantageous because it reduces the number of free parameters to that of the ground slope. Simulation results were presented which demonstrate that the model undergoes stable period doubling limit cycles leading ultimately to chaos, which resembles normal gait, limping, and seemingly chaotic stumbling, respectively. A close agreement was found to exist between strobe line drawings obtained from a passive kneed model and human subject data. The research seeks to expand on three-dimensional models, generate more realistic two-dimensional models, incorporate upper body, and other body parts, look at powered walking, running and pathological gait.***