Date of download: 11/7/2017 Copyright © ASME. All rights reserved. From: Dynamic Motion Planning of 3D Human Locomotion Using Gradient-Based Optimization J Biomech Eng. 2008;130(3):031002-031002-14. doi:10.1115/1.2898730 Figure Legend: Forces on a walking biped including GRFs RC, gravity force mg, and inertial force (−mẍG) and inertial moment (−ḢG)

Date of download: 11/7/2017 Copyright © ASME. All rights reserved. From: Dynamic Motion Planning of 3D Human Locomotion Using Gradient-Based Optimization J Biomech Eng. 2008;130(3):031002-031002-14. doi:10.1115/1.2898730 Figure Legend: The 31DOF human linkage model with dimensions (L0–L13) and joint rotation axes (q0–q27) denoted by cylinders. Three additional degrees of freedom (q28–q30) capture the rigid body translation of the body. Specific segment lengths and mass values represent the values used in the computations of Sec. .

Date of download: 11/7/2017 Copyright © ASME. All rights reserved. From: Dynamic Motion Planning of 3D Human Locomotion Using Gradient-Based Optimization J Biomech Eng. 2008;130(3):031002-031002-14. doi:10.1115/1.2898730 Figure Legend: The trajectories for the BOS, PCOM, and ZMP for normal walking on a level plane. The ZMP (black dots) and PCOM (blue open squares) traverse the BOS (red outline).

Date of download: 11/7/2017 Copyright © ASME. All rights reserved. From: Dynamic Motion Planning of 3D Human Locomotion Using Gradient-Based Optimization J Biomech Eng. 2008;130(3):031002-031002-14. doi:10.1115/1.2898730 Figure Legend: Computed gait stage durations in seconds for normal walking on a level plane