Simple Human Walking Modelling

摘要

The stability of human while walking or running is the ability to maintain the upright posture during locomotion. The behavior of the inverted pendulum is very similar to maintaining a balance by a human being. Inverted pendulums are mostly used to analyze modern control algorithms. This system is one of most known problems in control theory and dynamics. It is a physical pendulum with a center of mass above the suspension point. The inverted position is gained by using a control system which is monitoring the angle of the rod and balancing the pendulum. The purpose of presented work was to explained fundamental dynamic of walking on an enhanced version of the linear inverted pendulum.