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Optimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping

Title
Optimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping
Authors
Kim, Young KookYun, Dongwon
DGIST Authors
Yun, Dongwon
Issue Date
2020-09
Citation
Journal of Bionic Engineering, 17(5), 970-977
Type
Article
Article Type
Article
Author Keywords
quadrupedalismfelinegallopingdomestic catcenter-of-mass
Keywords
DESIGNSPEEDGAIT
ISSN
1672-6529
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. © 2020, Jilin University.
URI
http://hdl.handle.net/20.500.11750/12692
DOI
10.1007/s42235-020-0082-8
Publisher
Springer
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
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Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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