抄録
A human running motion can be modeled by a spring-loaded inverted pendulum (SLIP). However, the SLIP model does not include human-like pelvic movement which can contribute to increase a jumping force and absorb a landing impact. Based on a running gait analysis, we propose a novel model, named SLIP2 (Spring-Loaded Inverted Pendulum using Pelvis), that is composed of a body mass, a pelvis and leg springs. This model can store elastic energy during running by utilizing pelvic movement in the frontal plane. Additionally, we developed pelvic oscillation control and running velocity control. To evaluate the proposed model and control methods, we performed hopping and running simulations. The simulation results show that the SLIP2 model achieved hopping and running motions. Moreover, it shows that the difference of the pelvic oscillation phase affects the jumping force.
