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VP above or below? A new perspective on the story of the virtual point
The spring inverted pendulum model with an extended trunk (TSLIP) is widely used to investigate the postural stability in bipedal locomotion [1, 2]. The challenge of the model is to define a hip torque that generates feasible gait patterns while stabilizing the floating trunk. The virtual point (VP) method is proposed as a simplified solution, where the hip torque is coupled to the passive compliant leg force via a virtual point. This geometric coupling is based on the assumption that the instantaneous ground reaction forces of the stance phase (GRF) intersect at a single virtual point.
@poster{drama2020a, title = {VP above or below? A new perspective on the story of the virtual point}, abstract = {The spring inverted pendulum model with an extended trunk (TSLIP) is widely used to investigate the postural stability in bipedal locomotion [1, 2]. The challenge of the model is to define a hip torque that generates feasible gait patterns while stabilizing the floating trunk. The virtual point (VP) method is proposed as a simplified solution, where the hip torque is coupled to the passive compliant leg force via a virtual point. This geometric coupling is based on the assumption that the instantaneous ground reaction forces of the stance phase (GRF) intersect at a single virtual point. }, month = may, year = {2020}, slug = {vp-above-or-below-a-new-perspective-on-the-story-of-the-virtual-point}, author = {Drama, Özge and Badri-Spr{\"o}witz, Alexander}, url = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/601-869-1-RV.pdf}, month_numeric = {5} }