Optimization of gait and control in human biped locomotion

Gait pattern formation and gait control mechanism during human locomotion were studied For the former, several cost functions determining gait patterns were considered These include kinematic and dynamic energy expenditures, jerk and torque change costs during human biped walking We demonstrated that the criteria concerning dynamics of walking were likely to be optimized The following question can then arise. What control mechanisms can achieve and maintain the optimal gait pattern? To answer this question in part, we investigated response characteristics of rhythmic human walking motions and associated joint torques to externally applied impulsive forces. Our analysis showed that phase-dependent reactions accompanied by phase reset of walking rhythms played an important role in the maintenance of stability of cyclic motions. Finally, neural mechanisms underlying the optimization and the control of human locomotion were discussed.