Title :
Three-dimensional quantitative description and analysis of cockroach locomotion
Author :
Xingming Wu ; Zhifeng Li ; Weihai Chen ; Jianhua Wang
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
This paper provides a three-dimensional quantitative description method of cockroach movement. An experimental platform is built to observe the locomotion of cockroach, which is made of two parts: a high speed camera is used to record the locomotion, and two mirrors that locate two franks provide visual frames. Mathematical model of the platform was provided so that 3D coordinates of cockroach can be computed based on real and visual points in one frame. Two regular terrains, flat and stairs were designed for biology experiment. Data such as trajectories of legs and body was obtained by image processing, and some analysis such as duty factor and gait was given.
Keywords :
cameras; gait analysis; legged locomotion; mathematical analysis; path planning; robot vision; 3D coordinates; biology experiment; body trajectories; cockroach movement; high speed camera; image processing; leg trajectories; mathematical model; real points; three-dimensional cockroach locomotion quantitative analysis; three-dimensional cockroach locomotion quantitative description method; visual frames; visual points; Cameras; Insects; Joints; Legged locomotion; Mirrors; Trajectory; cockroach; gait; quantitative description; walking machine;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4673-6320-4
DOI :
10.1109/ICIEA.2013.6566607
