The basic mechanics of bipedal walking lead to asymmetric behavior

Abstract-This paper computationally investigates whether gait asymmetries can be attributed in part to basic bipedal mechanics independent of motor control. Using a symmetrical rigid-body model known as the compass-gait biped, we show that changes in environmental or physiological parameters can facilitate asymmetry in gait kinetics at fast walking speeds. In the environmental case, the asymmetric family of high-speed gaits is in fact more stable than the symmetric family of lowspeed gaits. These simulations suggest that lower extremity mechanics might play a direct role in functional and pathological asymmetries reported in human walking, where velocity may be a common variable in the emergence and growth of asymmetry