Premium
Biomimetic walking mechanisms: Kinematic parameters of goats walking on different slopes
Author(s) -
Zhang Fu,
Wang Yafei,
Zheng Limin,
Ma Tianle,
Wang Jiajia
Publication year - 2018
Publication title -
concurrency and computation: practice and experience
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.309
H-Index - 67
eISSN - 1532-0634
pISSN - 1532-0626
DOI - 10.1002/cpe.4913
Subject(s) - kinematics , hindlimb , joint (building) , geology , anatomy , screw axis , knee joint , mathematics , geometry , physics , geodesy , orthodontics , biology , medicine , structural engineering , engineering , surgery , classical mechanics
Summary In order to study bionic walking machinery, the uphill walking processes on different slopes (0°, 10°, 20°, and 30°) were recorded by a high speed video system (VRI Phantom M110). The kinematics parameters of goat slope are analyzed using PCC and ORIGIN software. Goat's average speed decreases with the increase in gradient. The average speed of goats on the 0° slope, 10° slope, 20° slope, and 30° slope are 1.72 m/s, 1.352 m/s, 0.742 m/s, and 0.609 m/s. In the Y axis direction, the variation ranges from 0.1 m to 0.37 m. The left hind legs are basically the same as the feet of the right hind legs. In the Y axis direction, the variation ranges from 0.1 m to 0.195 m. The length of the change in the X axis is greater than the posterior foot. The range of hip joint angle changes is from 46.1 0 to 135.5 0 . The knee joint angle changes is from 87.9 0 to 179.8 0 . The hip joint angle of hind leg changes from 115.3 0 to 170 0 . The knee joint angle of hind leg changes from 80.5 0 to 172.8 0 . The present research can provide theoretical basis for the design of a biomimetic agricultural walking mechanism.