Minetti A E, Alexander R M
Department of Biology, University of Leeds, U.K.
J Theor Biol. 1997 Jun 21;186(4):467-76. doi: 10.1006/jtbi.1997.0407.
A simple model predicts the energy cost of bipedal locomotion for given speed, stride length, duty factor and shape factor. (The duty factor is the fraction of stride duration, for which a foot is on the ground, and the shape factor describes the pattern of force exerted on the ground). The parameters are varied to find the gait that minimizes metabolic energy cost, for each speed. A previous model by Alexander calculated the work that muscles have to do, but the metabolic cost (calculated in this paper) is more likely to be the principal criterion for gait selection. This model gives good predictions of human stride lengths, and of the speed at which we break into a run. It predicts lower duty factors and higher shape factors than are normally used, but the relationships between these gait parameters and speed parallel the empirical relationships.
一个简单的模型可以预测在给定速度、步长、负荷系数和形状系数的情况下两足行走的能量消耗。（负荷系数是指一只脚着地的步长时间占比，形状系数描述了施加在地面上的力的模式）。通过改变这些参数来找到每种速度下使代谢能量消耗最小化的步态。亚历山大之前的一个模型计算了肌肉必须做的功，但（本文计算的）代谢成本更有可能是步态选择的主要标准。该模型对人类步长以及我们开始跑步的速度给出了很好的预测。它预测的负荷系数比通常使用的要低，形状系数比通常使用的要高，但这些步态参数与速度之间的关系与经验关系相似。
