Simulation Study on Biped Walking Gait in Low Gravity Environment Based on Computer Human Body Measurement Model

Objective: Both simulation and experimental studies show that human walking is a passive biped walking mode adapting to the gravity environment of the earth, and its energy consumption rate is much lower than that of biped robot[1]. In the earth's gravity environment, when the leg length, leg centroid, inertia parameters, joint position and the mass characteristics of the whole human body are fixed, the gait characteristics (step length and period) are fixed. This article establishes a passive bipedal walking model through computer human body measurement and conducts simulation research on gait differences in gravity environments on Earth, Moon, and Mars. The research results can provide a basis for future astronaut training.