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Optimal Control Of Human Running, Ross Herbert Miller May 2011

Optimal Control Of Human Running, Ross Herbert Miller

Open Access Dissertations

Humans generally use two modes of locomotion as adults. At slow speeds we walk, and at fast speeds we run. To perform either gait, we use our muscles. The central questions in this dissertation were: (1) Why do humans run the way they do, and (2) How do the mechanical properties of muscle influence running performance? Optimal control simulations of running were generated using a bipedal forward dynamics model of the human musculoskeletal system. Simulations of running and sprinting were posed as two-point boundary value problems where the muscle excitation signals were optimized to maximize an optimality criterion. In the ...