DocumentCode :
128731
Title :
A new method for measuring quadruped animal motion parameters based on inertial motion capturing system
Author :
Fucun Ma ; Peijiang Yuan ; Dongdong Chen ; Bo Song ; Yong Li ; Wei Han ; Ting Lai
Author_Institution :
Sch. of Mech. Eng. & Autom., Beihang Univ., Beijing, China
fYear :
2014
fDate :
9-11 June 2014
Firstpage :
1903
Lastpage :
1908
Abstract :
While exploring the environment and terrain deeper and deeper, foot robots get more and more applications in field of exploration, polar expedition and aerospace due to coping with various complex terrain adaptability, obstacle crossing ability, and perfect flexibility. Since quadruped robots have better stability and load capacity, they were the most widely used among varies foot robots. During the research and development of robots, the quadruped robots appear poor balance, load capacity lower, energy consumption high, sailing time shorter and other issues. We use bionics to get the quadruped motion data measured by inertial motion capturing system, and analyze different quadruped gait motion data, and identify the principles of animal locomotion, and extract the bionics advantages to apply quadruped robots development. It can greatly improve the ability of balance, load capacity and energy efficiency of the quadruped robots.
Keywords :
legged locomotion; motion control; robot kinematics; animal locomotion; complex terrain adaptability; energy consumption; energy efficiency; foot robot; inertial motion capturing system; load capacity; obstacle crossing ability; quadruped animal motion parameter; quadruped gait motion data; quadruped robot; Acceleration; Animals; Joints; Legged locomotion; Motion measurement; Bionics; Inertial motion capturing system; Kinematics; Quadruped Robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
Type :
conf
DOI :
10.1109/ICIEA.2014.6931479
Filename :
6931479
Link To Document :
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