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从行为到生物灵感:袋鼠鼠,计算模型和机器人中的空中重定向和多平面稳定性

Xiangyu Chu^1,2, M Janneke Schwaner³, Jiajun An¹

¹Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong.

Integrative and comparative biology

|June 20, 2024

概括

袋鼠鼠在跳跃时使用尾巴以获得稳定性和机动性. 一个简化的机器人尾巴可以复制这些运动,为生物灵感机器人设计提供了洞察力.

科学领域:

生物力学和机器人技术
动物的运动和稳定性.
生物启发的工程是生物启发的.

背景情况:

尾巴对于许多动物的平衡和敏捷性至关重要.
袋鼠鼠在跳跃和躲避捕食者时使用它们的尾巴来保持稳定.

研究的目的:

为了研究袋鼠鼠尾机制在空中机动.
评估在机器人系统中使用简化的尾状附属物进行中空控制的可行性.

主要方法:

对大鼠逃离捕食者的视频数据的分析.
在空中开发一只袋鼠鼠的计算模型.
用两度自由度 (2-DoF) 的尾巴机器人进行实验.

主要成果:

计算模型显示,2-DoF尾巴可以控制3D身体方向.
模拟的轨迹模仿了观察到的袋鼠老鼠运动模式.
机器人尾部实验证明了显著的曲折控制和俯冲/滚动稳定.

结论:

袋鼠鼠尾的形式功能关系是其空中敏捷性的关键.
轻量级,生物灵感的尾巴可以使机器人能够在空中进行复杂的机动.

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