Optimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping
- PDF / 3,156,296 Bytes
- 8 Pages / 595.22 x 842 pts (A4) Page_size
- 5 Downloads / 156 Views
Journal of Bionic Engineering http://www.springer.com/journal/42235
Optimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping Young Kook Kim1, Dongwon Yun2* 1. LV R&D team, Electro-technology R&D Center, LS ELECTRIC Co., Ltd, Cheongju 28437, South Korea 2. Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, South Korea
Abstract In this paper, we studied the acceleration behavior of a quadruped animal during a galloping motion. Because the development of many quadruped robotic systems has been focused on dynamic movements, it is obvious that guidance from the dynamic behavior of quadruped animals is needed for robotics engineers. To fulfill this demand, this paper deals with analysis of the galloping motions of a domestic cat, which is well known for its excellent acceleration performance among four-legged animals. Based on the planar motion capture environment, the movement data of a galloping feline was acquired and the dynamic motions were estimated using a spring-mass system. In particular, the effects of the position and angle of the center-of-mass of the cat, angular displacement of the spine, and angular velocity of the spine were analyzed and are discussed below. Through this process, it was possible to understand the dynamic movement characteristics of the cat, and to understand the relationships between, and the influences of, these parameters. From this analysis, we provide significant data applicable to the design of joint movements in quadruped robot systems. Keywords: quadrupedalism, feline, galloping, domestic cat, center-of-mass Copyright © Jilin University, 2020.
1 Introduction Since the beginning of the development of mobile robots for broad use in many applications, it has become desirable for robot locomotion to be as fast as possible. In this regard, one of the most important concepts is the mobility of the robot system. To achieve this objective, researchers first took the approach of wheel-based systems. Despite the simplicity of control and accessibility that exists over mostly even terrain, many difficulties were encountered when applying wheeled robots in diverse environmental conditions. First, the contact force between the ground and a wheel is not always constant in uneven terrain. Second, the ability to overcome obstacles depends on wheel size. This means that the dimensions of the wheeled robot must be larger if the target obstacle is big. These two problems led to a different approach, and to the concept of a robot platform called “Legged Robots”. The new type of locomotive system based on legs must address the issues of optimal support and traction by footholds. These are essential stability issues for biped and quadruped systems. From this concept, various types of legged robot platforms with static walking patterns have emerged. However, the *Corresponding author: Dongwon Yun E-mail: [email protected]
agility of legged robot platforms has received only minimal attention regarding stable movement in all kinds
Data Loading...
