SampleAbstract - VARIATION OF WHOLE-BODY ANGULAR AND LINEAR...

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INTRODUCTION Bipedal walking is a typical activity of daily living, but the overarching control strategy used by the central nervous system (CNS) to make this motion efficient, or even possible, remains unknown. Researchers in robotics have developed control strategies for bipedal gait through the regulation of central (i.e., about the mass center) angular momentum resolved along three orthogonal directions during the walking cycle. Although recent research has focused on conservation of whole-body central angular momentum as a possible control law for walking [1-3], there is little data to support this theory for other motions such as running or marching. Even less data exist for how whole-body linear momentum varies during human locomotion. This study investigated the extent to which whole-body central angular and linear momentum are conserved during walking, running, and marching. The goal was to determine whether minimization of central angular and linear momentum variations might provide a high- level control law for different types of human locomotion. METHODS We analyzed whole-body linear and central angular momentum during walking, running, and marching using motion capture and ground reaction data collected from a single healthy subject. The study was IRB approved and the subject gave informed consent. For each task, we collected five trials with clean force plate strikes for subsequent analysis. The experimental movement data were analyzed by modifying an existing dynamic full-body gait model (Fig. 1) [4]. The model was three dimensional and possessed 14 segments coordinated through 27 degrees of freedom. We derived the equations of motion for the model using Autolev symbolic manipulation software (OnLine Dynamics, Sunnyvale, CA). In addition, we used Autolev to derive equations for Fig. 1: Schematic of the 27 DOF full-body gait model used to analyze whole-body linear and central angular momentum during walking, running, and marching. whole-body linear momentum and whole-body angular momentum
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This note was uploaded on 02/15/2012 for the course EML 5595 taught by Professor Staff during the Spring '08 term at University of Florida.

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SampleAbstract - VARIATION OF WHOLE-BODY ANGULAR AND LINEAR...

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