An experimental analysis of human straight walking

Abstract

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Key words： human locomotion; walking gait; characterization; humanoid robot; biped robot

Acknowledgements

The first author acknowledges Chinese Scholarship Council and Institute of Advanced Manufacturing Technology (IAMT) of Chinese Academy of Sciences for supporting his PhD study and research at LARM in the University of Cassino and South Latium in Italy from 2010 to 2012.

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