Abstract
In a previous study of human locomotion, an important aspect of our mathematical modelling was the decomposition of the complex body dynamics into two parts: one describes the lower extremity motion; the other pertains to the motion of the upper trunk. The generation of gait patterns via optimal programming was studied in that paper. In the present study the torso motion is considered. This involves as investigation of the unstable equilibrium of the torso about its upright position. A multidimensional “inverted pendulum” model is derived to study this behavior. To stabilize the motion, a linear feedback law coupled with an on-off perturbation is proposed. A Liapunov function is then constructed to show that such a control mechanism provides effective stabilization of the torso for all initial configurations of motion. Significance of the control law is discussed and a possible EMG-photographic experiment is suggested on the basis of this theoretical study.
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