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Effects of the Rolling Mechanism of the Stance Foot on the Generalized Inverted Pendulum Definition

机译：姿势脚轧制机构对广义倒立摆定义的影响

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This paper addresses the way the rolling mechanism of the human foot influences the Generalized Inverted Pendulum (GIP) model during normal walking. A test on 6 subjects was performed, and two ways of modelling were used: the first one uses the filtered data of the Center of pressure (CoP) trajectory to rebuild the human inverted pendulum; the second one linearizes the CoP trajectory with time, which is equivalent to ignoring the effects of the rolling mechanism of the foot. The results show that the linearized model leads to an observable clear area of convergence of the dynamics support lines showing a neat inverted pendulum, while the non-linearized forces to make the distinction between the three sub-phases of single support: damping, stabilizing, propelling.
机译：本文解决了人脚的滚动机制影响了正常行走期间的广义倒立摆（GIP）模型的方式。进行6个受试者的测试，使用两种建模方式：第一个使用压力中心（COP）轨迹的滤波数据来重建人倒立的钟摆;第二个是用时间线性化支撑轨迹，这相当于忽略脚的滚动机构的效果。结果表明，线性化模型导致可观察到的动力学支撑线的可观察到的透明区域，所述动力学支撑线表示整洁的倒置摆，而非线性化力使得单一支持的三个子阶段之间的区别：阻尼，稳定，推进。

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