An actuated dissipative spring-mass walking model: Predicting human-like ground reaction forces and the effects of model parameters |
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| Institution: | 1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, 310027 Hangzhou, China;2. Department of Mechanical and Materials Engineering, Queen’s University, Kingston, ON, Canada;1. Robotics Program, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea;2. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea;1. State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mech. Eng., Zhejiang University, 310027 Hangzhou, China;2. Department of Mechanical and Materials Engineering, Queen?s University, Kingston, ON, Canada;3. Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854, USA;1. Centre for Structural Engineering and Construction (CSEC), University of Nottingham, University Park, Nottingham, NG7 2RD United Kingdom;2. Institute of Sound and Vibration Research, University of Southampton, Highfield Campus, Southampton SO17 1BJ, United Kingdom;1. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China;2. State Key Lab Bioelect, Southeast University, Nanjing 210096, China;3. Intelligent Robotics Institute, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | Simple models are widely used to understand the mechanics of human walking. The optimization-based minimal biped model and spring-loaded-inverted-pendulum (SLIP) model are two popular models that can achieve human-like walking patterns. However, ground reaction forces (GRF) from these two models still deviate from experimental data. In this paper, we proposed an actuated dissipative spring-mass model by integrating these two models to realize more human-like GRF patterns. We first explored the function of stiffness, damping, and weights of both energy cost and force cost in the objective function and found that these parameters have distinctly different influences on the optimized gait and GRF profiles. The stiffness and objective weight affect the number and size of peaks in the vertical GRF and stance time. The damping changes the relative size of the peaks but has little influence on stance time. Based on these observations, these parameters were manually tuned at three different speeds to approach experimentally measured vertical GRF and the highest correlation coefficient can reach 0.983. These results indicate that the stiffness, damping, and proper objective functions are all important factors in achieving human-like motion for this simple walking model. These findings can facilitate the understanding of human walking dynamics and may be applied in future biped models. |
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| Keywords: | Human walking Spring-mass model Actuated GRF Optimization |
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