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首页> 外文期刊>Frontiers in Neurorobotics >Golden Gait: An Optimization Theory Perspective on Human and Humanoid Walking
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Golden Gait: An Optimization Theory Perspective on Human and Humanoid Walking

机译：黄金步态：人与人形行走的优化理论视角

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Human walking is a complex task which includes hundreds of muscles, bones and joints working together to deliver harmonic movements with the need of finding equilibrium between moving forward and maintaining stability. Many different computational approaches have been used to explain human walking mechanisms, from pendular model to fractal approaches. A new perspective can be gained from using the principles developed in the field of Optimization theory and in particularly the branch of Game Theory. In particular we provide a new insight into human walking showing as the trade-off between advancement and equilibrium managed during walking has the same solution of the Ultimatum game, one of the most famous paradigms of game theory, and this solution is the golden ratio. The golden ratio is an irrational number that was found in many biological and natural systems self-organized in a harmonic, asymmetric, and fractal structure. Recently, the golden ratio has also been found as the equilibrium point between two players involved into the Ultimatum Game. It has been suggested that this result can be due to the fact that the golden ratio is perceived as the fairest asymmetric solution by the two players. The golden ratio is also the most common proportion between stance and swing phase of human walking. This approach may explain the importance of harmony in human walking, and provide new perspectives for developing quantitative assessment of human walking, efficient humanoid robotic walkers, and effective neurorobots for rehabilitation.
机译：人类步行是一项复杂的任务，其中包括数百个肌肉，骨骼和关节，它们协同工作以传递谐波运动，并且需要在向前运动和保持稳定性之间寻求平衡。从摆动模型到分形方法，许多不同的计算方法已用于解释人类的行走机制。通过使用在优化理论领域尤其是博弈论领域开发的原理，可以获得一个新的视角。特别是，我们提供了一种有关人类行走的新见解，因为在行走过程中管理的进步与平衡之间的权衡具有与Ultimatum游戏（一种最著名的博弈论范例）相同的解决方案，而这种解决方案就是黄金分割率。黄金比例是一个无理数，它是在许多以谐波，不对称和分形结构自组织的生物和自然系统中发现的。最近，黄金比例也被发现作为参与最后通Game游戏的两个玩家之间的平衡点。有人认为，这一结果可能是由于两个参与者将黄金分割率视为最公平的不对称解。黄金比例也是姿势和人体行走摆动阶段之间最常见的比例。这种方法可以解释人步行中和谐的重要性，并为开发定量的人步行，有效的类人机器人步行者和有效的康复机器人提供了新的见解。

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