BIPEDAL LOCOMOTION
Bipedal
walking is one of the principal movements of the human body. It is a procedure
that is done by consequent steps. The pendulum movement of leg around pelvis,
which is made between the times that foot leaves the contacted surface and
touches it again is called a step. During this pendulum motion, the other leg is
contacted to the surface and carries all the load of the whole body. When the
dynamic leg, which is called the swing leg, passes the static leg (i.e. the
stance leg), the body tends to fall forward. But the heels of the swing leg
touch the surface so the body automatically preserves its balance. During this
movement, reverse swinging arms with the legs help the body the to regain its
stability. In the early studies, the 2:1 frequency coordination between arm and
leg movements is observed for the normal walking procedure. The occurrence of
this frequency coordination has been explained by the tendency of the arms to
move as closely as possible to their eigenfrequencies
