Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Movement Analysis of Waist and Tail of Lizard for Controlling Yawing for Motion in Slow Trotting

저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리

  • Kim, Jeongryul (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Kim, Jong-Won (Department of Mechanical and Aerospace Engineering, Seoul National University) ;
  • Park, Jaeheung (Department of Transdisciplinary Studies, Seoul National University, and Advanced Institutes of Convergence Technology) ;
  • Kim, Jongwon (Department of Mechanical and Aerospace Engineering, Seoul National University)
  • 김정률 (서울대학교 기계항공공학부) ;
  • 김종원 (서울대학교 기계항공공학부) ;
  • 박재흥 (서울대학교 융합과학부) ;
  • 김종원 (서울대학교 기계항공공학부)
  • Received : 2013.04.11
  • Accepted : 2013.06.10
  • Published : 2013.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.

Keywords

References

  1. H. C. Shin, K. M. Jeong, and J. J. Kwon, "Development of a snake robot with 2-DOF actuator modules," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 7, pp. 697-703, Jul. 2011. https://doi.org/10.5302/J.ICROS.2011.17.7.697
  2. A. E. Minetti, "Kinesiology based human-like walking pattern design for a bipedal robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 17, no. 7, pp. 659-667, Jul. 2011. https://doi.org/10.5302/J.ICROS.2011.17.7.659
  3. R. M. Alexander, Principles of Animal Locomotion, Princeton University Press, New Jersey, USA, 2003.
  4. D. V. Lee, J. E. A. Bertram, and R. J. Todhunter, "Acceleration and balance in trotting dogs," The Journal of Experimental Biology, vol. 202, no 24, pp. 3565-3573, Dec. 1999.
  5. D. V. Lee, "Effects of mass distribution on the mechanics of level trotting in dogs," Journal of Experimental Biology, vol. 207, no. 10, pp. 1715-1728, Apr. 2004. https://doi.org/10.1242/jeb.00947
  6. A. E. Minetti, "The biomechanics of skipping gaits: a third locomotion paradigm?" Proc. of the Royal Society B: Biological Sciences, vol. 265, no. 1402, pp. 1227-1233, Jul. 1998. https://doi.org/10.1098/rspb.1998.0424
  7. K. J. Parsons, T. Pfau, and A. M. Wilson, "High-speed gallop locomotion in the Thoroughbred racehorse. I. The effect of incline on stride parameters," Journal of Experimental Biology, vol. 211, no. 6, pp. 935-944, Mar. 2008. https://doi.org/10.1242/jeb.006650
  8. J. J. Chen, A. M. Peattie, K. Autumn, and R. J. Full, "Differential leg function in a sprawled-posture quadrupedal trotter," Journal of Experimental Biology, vol. 209, no. 2, pp. 249-259, Jan. 2006. https://doi.org/10.1242/jeb.01979
  9. R. Ritter, "Lateral bending during lizard locomotion," Journal of Experimental Biology, vol. 173, pp. 1-10, 1992.
  10. J. Park, "Synthesis of natural arm swing motion in human bipedal walking," Journal of Biomechanics, vol. 41, no. 7, pp. 1417-1426, 2008. https://doi.org/10.1016/j.jbiomech.2008.02.031
  11. P. Liljeback, K. Y. Pettersen, and O. Stavdahl, "Modelling and control of obstacle-aided snake robot locomotion based on jam resolution," Proc. of the IEEE Int'l Conference on Robotics and Automation, Kobe, Japan, pp. 3807-3814, May 2009.
  12. P. Liljeback, K. Y. Pettersen, O. Stavdahl, and J. T. Gravdahl, "Controllability and Stability Analysis of Planar Snake Robot Locomotion," IEEE Transactions on Automatic Control, vol. 56, no 6, pp. 1365-1380, Jun. 2011. https://doi.org/10.1109/TAC.2010.2088830

Cited by

  1. Development and Tracking Control of a Multi-Link Climbing Robot with High Payload Capacity and Various Transition Abilities vol.19, pp.10, 2013, https://doi.org/10.5302/J.ICROS.2013.13.8010