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dc.contributor.advisorGhosal, Ashitava
dc.contributor.authorKarthick, G
dc.date.accessioned2014-08-07T05:46:58Z
dc.date.accessioned2018-07-31T05:28:27Z
dc.date.available2014-08-07T05:46:58Z
dc.date.available2018-07-31T05:28:27Z
dc.date.issued2014-08-07
dc.date.submitted2011-11
dc.identifier.urihttp://etd.iisc.ac.in/handle/2005/2362
dc.identifier.abstracthttp://etd.iisc.ac.in/static/etd/abstracts/3036/G24943-Abs.pdfen_US
dc.description.abstractWalking comes naturally to us and appears to be simple. However, this is not so and it is known that walking requires high level neural control and muscle coordination. There is no single, unifying theory of bipedal walking. Models of walking are useful in various ways such as developing computational theories of neural control, understanding muscle coordination and to design and analyze lower extremity prostheses. This thesis deals with modeling and simulation of walking from a kinematics and dynamics view point. Three sagittal planar models with increasing levels of complexity are presented in this thesis. The first model is a simple two degrees of freedom (DoF) model representing the motion at the hip and the knee joint. The second model is a three DoF model where the ankle joint motion is also taken into account. Finally, the third model considers both the legs and has seven DoF. The kinematic and dynamic equations of the models are derived, and the inverse dynamic analysis and forward dynamic simulation of the models are performed. The simulation results are compared with experimental data available in literature.en_US
dc.language.isoen_USen_US
dc.relation.ispartofseriesG24943en_US
dc.subjectWalking - Modelling and Simulationen_US
dc.subjectRoboticsen_US
dc.subjectHuman Walkingen_US
dc.subjectHuman Walking - Degrees of Freedom (DoF) Modelen_US
dc.subjectGait Analysisen_US
dc.subject.classificationAutomatic Control Engineeringen_US
dc.titleKinematic And Dynamic Modeling Of Human Walkingen_US
dc.typeThesisen_US
dc.degree.nameMSc Enggen_US
dc.degree.levelMastersen_US
dc.degree.disciplineFaculty of Engineeringen_US


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