Biomechanics of legged locomotion - experiments, models, robots and assistive devices

In this presentation a series of conceptual models for describing human and animal locomotion will be presented ranging from standing to walking and running. By subsequently increasing the complexity of the models we show that basic properties of the underlying spring-mass model can be inherited by the more detailed models. Model extensions include the consideration of a rigid trunk (instead of a point mass), non-elastic leg properties (instead of a mass-less leg spring), additional legs (two and four legs), leg masses, leg segments (e.g. a compliantly attached foot) and energy management protocols. Furthermore we propose a methodology to evaluate and refine conceptual models based on the test trilogy. This approach consists of a simulation test, a hardware test and a behavioral comparison of biological experiments with model predictions and hardware models.