Multi-Step Forward Dynamic Gait Simulation

Forward dynamic simulations of anthropomorphic human models are becoming increasingly investigated as an alternative to inverse dynamic analyses ([1] and [2]). Forward dynamic models are typically forced into a walking pattern using pre-computed joint trajectories reminiscent of a central pattern generator. Simple balance controllers inspired from similar work in the robotics field [3] allow the models to walk for many steps. The current work implements a 2D, 7-segment, 9-degree-of-freedom gait model coupled with an optimization routine to find a minimally fatiguing gait.

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