An approach to validation of a leg simulation by the comparison of two dynamic models

J. H. Cocatre-Zilgien, F. Delcomyn, L. V. Hall, G. J. Pijanowski

Research output: Contribution to journalArticle

Abstract

The dynamics of a jointed leg were simulated using two different models, one based on a recursive Newton-Euler method and one on a closed-form Lagrange method. To validate the models, the simulations were run in parallel and the intermediate steps and output of the two methods were compared to one another to reveal the presence and locations of errors. Sources of error and the use of this method for the detection of errors are discussed. Some errors could not have been detected using only a single simulation.

Original languageEnglish (US)
Pages (from-to)309-319
Number of pages11
JournalComputers in Biology and Medicine
Volume25
Issue number3
DOIs
StatePublished - May 1995

Keywords

  • Dynamics
  • Error
  • Lagrange
  • Leg
  • Method
  • Model
  • Newton-Euler
  • Simulation
  • Validation
  • Walking

ASJC Scopus subject areas

  • Computer Science Applications
  • Health Informatics

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