Graphics Reference
In-Depth Information
walking is considered to be locomotion characterized by one or both feet touching the ground at any
point in time as opposed to running where at most only one foot is on the ground at any point in time.
Walk cycle
The walk cycle can be broken down into various phases [ 11 ] based on the relation of the feet to their
points of contact with the ground (see Figure 9.14 ). The stride is defined by the sequence of motions
between two consecutive repetitions of a body configuration [ 32 ] . The left stance phase of a stride is
initiated with the right foot on the ground and the left heel just starting to strike the ground. During this
phase, the body is supported by both feet until the right foot pivots up and the right toe leaves the
ground. The left stance phase continues as the right foot leaves the ground and starts swinging forward
and as the right heel strikes the ground and both feet are once again on the ground. The left toe leaving
the ground terminates the left stance phase. The right swing phase is the period in which the right toe
leaves the ground, the right leg swings forward, and the right heel strikes the ground. Notice that the
right swing phase is a subinterval of the left stance phase. The end of the right swing phase initiates the
right stance phase, and analogous phases now proceed with the roles of the left leg and the right leg
switched. The walking cycle is characterized by alternating periods of single and double support.
left leg
right leg
left heel strike
right heel strike
left heel strike
right toe off ground
left toe off ground
double
support
single
support
double
support
double
support
left stance
left swing
right stance
right swing
right sta nce
one cycle (stride)
FIGURE 9.14
Walk cycle [ 32 ] .
 
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