Abstract
Objectives: In this work we create and implement a terrestrial locomotion model inspired in Dove waking scheme and Craig nomenclature for biped robot movement design. Methods: For the model implementation we use the Craig method to obtain the transformation matrix that describes position and orientation of leg joints in Doves. We obtain biological experimental results in a group of Doves (Columbia livia) in order to contrast and complement previous work in terms of energy efficiency. Findings: We propose kinematic models for slow and moderate pace, which were evaluated through energy efficiency analysis. Application: The model offers an alternative for design of mobile robots where the locomotion is performed in irregular terrains since the biped model proposed here, has just two discrete support points in comparison with other types of locomotion such as wheels. Keywords: Biped Locomotion, Biped Robotic, Bio-mechanical Motion, Craig Nomenclature, Denavit Hartenberg
Highlights
The terrestrial robot locomotion is a relevant topic of research since it is one of the most determinant aspects to be considered for a suitable remote task execution
We develop a kinematic model based on the Craig nomenclature and biological experiments made in a group of Doves (Columba livia)
Having into account the previous research, in this work we propose an additional scheme for biped locomotion inspired in birds, using information from the Columba livia Dove, which offers a general locomotive pattern that allows comparative analysis with other research results
Summary
The terrestrial robot locomotion is a relevant topic of research since it is one of the most determinant aspects to be considered for a suitable remote task execution. Its implementation in non-uniform terrains generates wheel sliding and velocity reduction that require an increase of energy cost for robots or improvements in mechanical designs to enhance wheels traction[1] In this regard, biped inspired locomotion offers an alternative that emulates the legs movement of humans and birds, allowing the movement in spite of the terrain irregularities[2]. In this approach we focus on bird inspired locomotion since in comparison with humans, which base their movement in two segments (femur and tibia) and three joints (hips, knees y ankle), they have developed a more complete and sophisticated motion scheme through three segments (femur, tibiotarsus and tarsometatarsus) and four joints (hips, knees, ankle and foot).
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