Abstract Summary
The human gait dynamics in sagittal plane can be reproduced by a spring-loaded inverted pendulum (SLIP) model. If the center of mass (CoM) dynamics in frontal plane are describable by spring-mass dynamics, 3D expansion of the SLIP model will be valid. In this paper, we described CoM dynamics of frontal plane using the SLIP model. The model consisted of a point mass and two massless compliant legs, and was simulated for the single support and the double support phase to reproduce the gait. This model reproduces the ground reaction force and the two-dimensional trajectory of the CoM in frontal plane. By demonstrating CoM dynamics in frontal plane as well as that in sagittal plane for compliant model, the movement of the center of mass of the person during walking has spring dynamics. We also proposed the possibility of SLIP model for 3D extension.
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