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Journal Article

Citation

Maus HM, Revzen S, Guckenheimer J, Ludwig C, Reger J, Seyfarth A. J. R. Soc. Interface 2015; 12(103): e2014.0899.

Affiliation

Institute for Sport Science, Technical University Darmstadt, Magdalenenstr. 27, 64289 Darmstadt, Germany.

Copyright

(Copyright © 2015, Royal Society)

DOI

10.1098/rsif.2014.0899

PMID

25505131

PMCID

PMC4305406

Abstract

Running is an essential mode of human locomotion, during which ballistic aerial phases alternate with phases when a single foot contacts the ground. The spring-loaded inverted pendulum (SLIP) provides a starting point for modelling running, and generates ground reaction forces that resemble those of the centre of mass (CoM) of a human runner. Here, we show that while SLIP reproduces within-step kinematics of the CoM in three dimensions, it fails to reproduce stability and predict future motions. We construct SLIP control models using data-driven Floquet analysis, and show how these models may be used to obtain predictive models of human running with six additional states comprising the position and velocity of the swing-leg ankle. Our methods are general, and may be applied to any rhythmic physical system. We provide an approach for identifying an event-driven linear controller that approximates an observed stabilization strategy, and for producing a reduced-state model which closely recovers the observed dynamics.


Language: en

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