Numerical study on the walking load based on inverted-pendulum model

Liang Cao, Jiepeng Liu, Xiaolin Zhang, Y. Frank Chen

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


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-β 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 αwi is proposed for the traditional walking load model.

Original languageEnglish (US)
Pages (from-to)245-255
Number of pages11
JournalStructural Engineering and Mechanics
Issue number3
StatePublished - Aug 10 2019

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Building and Construction
  • Mechanics of Materials
  • Mechanical Engineering


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