Human daily physical activities involve a combination of static and dynamic contraction and require a continual switching between one type of muscle contraction and another to produce smooth motion. Walking, running and jumping are the natural gaits for a human daily life. Although it is complicated to explain function of legs during locomotion, their dynamics in locomotion can be qualitatively described and modelled by a spring-loaded Inverted Pendulum (SLIP) which is composed of the body by a point mass presentation and a massless spring leg. In this study, the spring-loaded inverted pendulum (SLIP) model has been used to simulate human walking and running. Lagrange method is used for deriving the mathematical model of the spring-loaded inverted pendulum This paper proposes kinematics and a control algorithm to control a spring-loaded Inverted Pendulum to simulate approximate solutions to the stance dynamics. The simulation results are presented to dynamics of legged locomotion on compliant legs and has been shown that the model is an easy way to obtain a quantitative model of human activities and shows robust walking patterns. Moreover, it is a good tool to get better understanding of human motion. The future work may be focused on modelling the system with different control strategies.
Anahtar Kelimeler: spring-loaded inverted pendulum, modelling and simulation, human locomotion,running simulation
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