Bio-inspired Topological Skeleton for the Analysis of Quadruped Kinematic Gait

作     者：Benjamin Boudon Jean-Marc Linares Anick Abourachid Arthur Vauquelin Emmanuel Mermoz 

作者机构：Aix Marseille University CNRS ISM Marseille 13009 France Museum National d'Histoire Naturelle Pavillon d'Anatomie Comparbe 57 rue Cuvier F-75231 Paris Cedex 05 France Airbus Helicopters Abroport de Marseille Provence Marignane 13700 France 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2018年第15卷第5期

页      面：839-850页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 1305[艺术学-设计学（可授艺术学、工学学位）] 13[艺术学] 08[工学] 0836[工学-生物工程] 080101[工学-一般力学与力学基础] 0702[理学-物理学] 0801[工学-力学（可授工学、理学学位）] 

基　　金：support from the Chair “Bio-inspired mechanical design” Aix-Marseille University - Airbus Helicopters 

主　　题：quadruped locomotion motion analysis topological skeleton closed-form solutions Multibody Systems (MBS) 

摘      要：In bio-inspired design activities, nature is a basis of knowledge. Over the last twenty years, many solutions to measure and analyze human or animal gaits have been developed （VICON system, X-ray radiography...）. Although, these methods are becoming more and more accurate, they are quite expensive, long to set up and not easily portable. In this paper, a method called the bio-inspired topological skeleton is proposed in order to complement the classic videography process and to enable animal gait analysis. A new predictive kinematic model with closed-loops of an unguligrade quadruped is suggested. This kinematic model includes three segments per leg and takes into account the scapula movements. The proposed method allows us to improve the accuracy of the kinematic input data measured from a single video including an additional artefact. To show the benefits of this method, joint parameters that are difficult to measure are derived symbolically from the kinematic model and compared with experimental data.