Optimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping
作者机构：LV R&D teamElectro-technology R&D CenterLS ELECTRIC Co.LtdCheongju 28437South Korea Department of Robotics EngineeringDaegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988South Korea
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2020年第17卷第5期
页 面：970-977页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 09[农学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0901[农学-作物学] 0836[工学-生物工程] 090102[农学-作物遗传育种]
主 题：quadrupedalism feline galloping domestic cat center-of-mass
摘 要：In this paper,we studied the acceleration behavior of a quadruped animal during a galloping *** 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 *** 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 *** 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 *** 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 *** 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 *** this analysis,we provide significant data applicable to the design of joint movements in quadruped robot systems.
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