During the steady gait, humans stabilize their head around the vertical orientation. Although there are sensori-cognitive explanations for this phenomenon, its mechanical effect on the body dynamics remains unexplored. In this study, we take profit from the similarities that human steady gait shares with the locomotion of passive-dynamics robots. We introduce a simplified anthropometric 2D model to reproduce a broad walking dynamics. In a previous study, we showed heuristically that the presence of a stabilized head–neck system has a significant influence on the dynamics of walking. This article gives new insights that lead to understanding this mechanical effect. In particular, we introduce an original cart upper-body model that allows to better understand the mechanical interest of head stabilization when walking, and we study how this effect is sensitive to the choice of control parameters.

中文翻译：

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头部稳定对人体测量学步行者被动动力学的机械贡献

在稳定步态期间，人类将头部稳定在垂直方向上。尽管对这种现象有感官认知解释，但其对身体动力学的机械影响仍未得到探索。在这项研究中，我们从人类稳定步态与被动动力机器人运动的相似之处中获益。我们引入了一个简化的人体测量 2D 模型来重现广泛的步行动态。在之前的一项研究中，我们启发式地表明，稳定的头颈系统的存在对行走的动力学有显着影响。本文提供了有助于理解这种机械效应的新见解。特别是，我们引入了一个原始的推车上身模型，可以更好地理解行走时头部稳定的机械兴趣，