Motion capture data reveal the important role of waist flexibility in human gait

In order to realize the human-like locomotion of humanoid, it is crucially important to study the gait patterns as well as stance control strategies of human walking from the human motion capture data so as to transfer them to humanoid. In this paper, we use a specially designed wearable motion capture system, which can simultaneously capture the motion of the lower limbs in the joint space, the stance of the pelvis and the back in the Descartes space, and the forces exerted on the sole of foot, to capture the motion data of subjects; and the captured walking data reveal some interesting gait patterns of human, in which the role of waist flexibility in human gait is remarkable. Thus we suggest that we should pay attention to the study of the mechanism of waist flexibility in human gait as well as the method of transferring the waist flexibility to humanoid.