@article{ref1,
title="The 'extrapolated center of mass' concept suggests a simple control of balance in walking",
journal="Human movement science",
year="2008",
author="Hof, At L.",
volume="27",
number="1",
pages="112-125",
abstract="Next to position x and velocity v of the whole body center of mass (CoM) the 'extrapolated center of mass' (XcoM) can be introduced: xi = chi + nu/omega 0, where omega 0 is a constant related to stature. Based on the inverted pendulum model of balance, the XcoM enables to formulate the requirements for stable walking in a relatively simple form. In a very simple walking model, with the effects of foot roll-over neglected, the trajectory of the XcoM is a succession of straight lines, directed in the line from center of pressure (CoP) to the XcoM at the time of foot contact. The CoM follows the XcoM in a more sinusoidal trajectory. A simple rule is sufficient for stable walking: at foot placement the CoP should be placed at a certain distance behind and outward of the XcoM at the time of foot contact. In practice this means that a disturbance which results in a CoM velocity change Deltav can be compensated by a change in foot position (CoP) equal to Deltav/omega 0 in the same direction. Similar simple rules could be formulated for starting and stopping and for making a turn.<p /><p>Language: en</p>",
language="en",
issn="0167-9457",
doi="10.1016/j.humov.2007.08.003",
url="http://dx.doi.org/10.1016/j.humov.2007.08.003"
}