摘要
本文讨论人体双足步行运动的动态稳定性。建立由躯干、双臂和双腿组成的多刚体人体模型，给出限制质心地面投影变化范围的动态稳定域。分析表明，对具有正常行走能力的人体，步行稳定性应取决于外部条件。地面粗糙程度、质心高度、步长。
The dynamic stability problem of biped locomotion of human body is discussed in the present paper. A multibody human model composed of the trunk two arms and two legs is proposed, and the dynamic stable domain which restricts the projection of bodys gravity center on the ground is given. It is shown that for a human being with normal walking capability, the stability of locomotion depends only on the external conditions. The roughness of ground, height of gravity center, foot placement, lengths of leg and foot are significent factors.
出处
《应用力学学报》
EI
CAS
CSCD
北大核心
1996年第4期22-27,共6页
Chinese Journal of Applied Mechanics
基金
高等学校博士点专项科研基金
关键词
生物力学
多刚体动力学
运动稳定性
biomechanics, multibody dynamics, theory of stability.
