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3D Kinematic Gait Analysis for Preclinical Studies in Rodents

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Kinematics Analysis and Gait Study of Bionic Turtle Crawling Mechanism.

Zhuo Wang¹, Wanlang Peng¹, Bo Zhang¹

¹College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China.

Biomimetics (Basel, Switzerland)

|March 27, 2024

Summary

A novel bionic crawling robot, mimicking turtle locomotion, was developed for culvert inspection. Cubic polynomial trajectories offer superior energy efficiency compared to compound cycloid trajectories for robot foot movement.

Keywords:

drainage culvert desilting energy consumption characteristics foot-end trajectory planning gait optimization underwater dredging crawler mechanism

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Published on: February 22, 2011

Area of Science:

Robotics
Bionics
Mechanical Engineering

Background:

Water delivery culverts face obstructions like silt, stones, and debris, hindering inspection and maintenance.
Existing inspection methods are often inefficient or inadequate for navigating complex culvert environments.

Purpose of the Study:

To design and analyze a bionic crawling robot inspired by turtle joint structures for effective culvert navigation.
To investigate and compare the energy efficiency of different foot trajectory planning methods for the robot's gait.

Main Methods:

Utilized bionic design principles to create a robot mimicking turtle joint structures.
Established kinematics and dynamics models using the D-H method, analytical approach, and Lagrange's method.
Planned compound cycloid and cubic polynomial motion trajectories for the robot's foot, simulating a turtle-like crawling gait.

Main Results:

Simulation and prototype experiments validated the robot's design and crawling gait.
Cubic polynomial foot trajectories demonstrated lower energy consumption than compound cycloid trajectories under identical gait parameters.
Energy consumption ratio was found to decrease with increased step length and increase with increased step height.

Conclusions:

The bionic crawling robot design is effective for navigating culvert environments.
Cubic polynomial foot trajectory planning is more energy-efficient for this robot compared to compound cycloid trajectories.
Optimizing step length and height is crucial for minimizing energy consumption during robot locomotion in culverts.