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Hugh M. Herr. Gu, Jianwen Wendy, 1981- Massachusetts Institute of Technology. Dept. of Physics. Massachusetts Institute of Technology. Department of Physics 2005-09-26T19:28:04Z 2005-09-26T19:28:04Z 2003 2003 http://hdl.handle.net/1721.1/28268 53102406 Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Physics, 2003. Includes bibliographical references (p. 47-48). The conservation of angular momentum provides an elegant model for human walking and might be used to generate stable robotic locomotion if employed by a control algorithm. To examine the extent to which the body regulates angular momentum, a force model was developed to predict horizontal ground reaction forces assuming perfect angular momentum conservation. These model forces closely matched experimental forces, suggesting that the body does indeed regulate angular momentum. To determine how various links of the body contribute to total angular momentum, link angular momenta were calculated. Angular momenta in the medial-lateral and vertical directions showed evident cancellation of link angular momenta whereas angular momentum in the anterior-posterior direction did not. Link by link, angular momentum in the medial-lateral direction was much larger than angular momenta in the anterior-posterior and vertical directions, which makes it more likely to cause stability problems. Hence, angular momentum in the medial-lateral direction is the key angular momentum to regulate. by Jianwen Wendy Gu. S.B. 48 p. 1796862 bytes 1800406 bytes application/pdf application/pdf en_US Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Physics. The regulation of angular momentum during human walking Thesis application/pdf Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="2cd56515-6d4f-42d6-bc96-113020900f16"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>en_US</Language> <Title>The regulation of angular momentum during human walking</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2003</PublicationDate> <Authors> <Author> <DisplayName>Gu, Jianwen Wendy, 1981-</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Physics.</Keyword> <Abstract>The conservation of angular momentum provides an elegant model for human walking and might be used to generate stable robotic locomotion if employed by a control algorithm. To examine the extent to which the body regulates angular momentum, a force model was developed to predict horizontal ground reaction forces assuming perfect angular momentum conservation. These model forces closely matched experimental forces, suggesting that the body does indeed regulate angular momentum. To determine how various links of the body contribute to total angular momentum, link angular momenta were calculated. Angular momenta in the medial-lateral and vertical directions showed evident cancellation of link angular momenta whereas angular momentum in the anterior-posterior direction did not. Link by link, angular momentum in the medial-lateral direction was much larger than angular momenta in the anterior-posterior and vertical directions, which makes it more likely to cause stability problems. Hence, angular momentum in the medial-lateral direction is the key angular momentum to regulate.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>