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Structural Engineering and Mechanics
  Volume 71, Number 3, August10 2019, pages 245-255

Numerical study on the walking load based on inverted-pendulum model
Liang Cao, Jiepeng Liu, Xiaolin Zhang and Y. Frank Chen

    In this paper, an inverted-pendulum model consisting of a point supported by spring limbs with roller feet is adopted to simulate human walking load. To establish the kinematic motion of first and second single and double support phases, the Lagrangian variation method was used. Given a set of model parameters, desired walking speed and initial states, the Newmark-beta method was used to solve the above kinematic motion for studying the effects of roller radius, stiffness, impact angle, walking speed, and step length on the ground reaction force, energy transfer, and height of center of mass transfer. The numerical simulation results show that the inverted-pendulum model for walking is conservative as there is no change in total energy and the duration time of double support phase is 50-70% of total time. Based on the numerical analysis, a dynamic load factor alpha wi is proposed for the traditional walking load model.
Key Words
    inverted-pendulum model; walking load; newmark-beta method;ground reaction force; dynamic load factor
1 School of Civil Engineering, Chongqing University, Chongqing 400045, China
2 Key Laboratory of New Technology for Construction of Cities in Mountain Area (Chongqing University),
Ministry of Education, Chongqing 400045, China

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