Dynamics of human walking at steady speeds.

  title={Dynamics of human walking at steady speeds.},
  author={Valery B. Kokshenev},
  journal={Physical review letters},
  volume={93 20},
Biped locomotion is discussed through a Lagrangian formulation for velocity-dependent, body driving forces. An analysis of level walking in humans is given through the known experimental data on the ground-reaction force and the external work without recourse to inverted-pendulum modeling. At a certain speed, rectilinear motion of the center of mass with its backward rotation along a shortened hypocycloid is ensured by double-frequency nonlinear oscillations, whose energy cost is 1% of the… CONTINUE READING