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1.IntroductionInthepastyearstherehasbeenanincreasedinterestinstudyingthedynamicsofhumanwalkingthroughtheuseofthedynamicmodels.Numerousmodelshavebeendevelopedtosimulatehumanlocomotion,basedonbodymodelsinvaryingcomplexityfromaconcentratedmasssupportedbytwoe
1. Introduction perspectives has been established in an increasing interest in researching the dynamics of human beings as much use of the dynamic models. Numerous patterns have been developed for the control of human motion, based on body motodeinvarying complex levels of fromaconcentratedmasssupportedbytwoe