On the nonholonomic nature of human locomotion

  title={On the nonholonomic nature of human locomotion},
  author={Gustavo Arechavaleta and Jean-Paul Laumond and Halim Hicheur and Alain Berthoz},
  journal={Auton. Robots},
In the kinematic realm, wheeled robot’s determining characteristic lies in its nonholonomic constraint. Indeed, the wheels of the robot unequivocally force the robot vehicle to move tangentially to its main axis. Here we test the hypothesis that human locomotion can also be partly described by such a nonholonomic system. This hypothesis is inspired by the trivial observation that humans do not walk sideways: some constraints of different natures (anatomical, mechanical. . .) may restrict the… CONTINUE READING

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