Body Flexibility Effects on Foot Loading in Quadruped Bounding Based on a Simple Analytical Model
Body Flexibility Effects on Foot Loading in Quadruped Bounding Based on a Simple Analytical Model
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DOI：
10.1109/lra.2018.2842925
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Matsuno, Fumitoshi
中科院分区：
文献类型：
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作者：
Kamimura, Tomoya;Aoi, Shinya;Matsuno, Fumitoshi
身体柔韧性在四足动物的跳跃步态中起着重要作用。在以前的研究中，我们调查了身体的灵活性对脚的负载的影响，通过比较两种不同的物理模型，有和没有一个灵活的身体关节。测试两个模型具有相同的机械能，发现两个相互矛盾的结果：身体的灵活性降低了最大地面反作用力，但一个更硬的身体表现出更小的最大地面反作用力比一个高度灵活的身体。由于模型动力学的复杂性，这些结果背后的机制尚不清楚。在目前的研究中，我们使用了一个简化的分析模型，假设我们以前的模型的物理约束，以澄清身体灵活性的动态作用，特别是关于脚的负载。通过对控制方程进行线性化，得到了近似周期解，并解释了相互矛盾的结果。此外，我们讨论了我们的研究结果的生物相关性，使用我们的分析结果与猎豹的运动观察的比较。我们的研究结果不仅将提高对四足动物快速运动的运动控制机制的理解，而且还为能够快速运动的腿式机器人的机械和控制设计提供了指导原则。
Body flexibility plays an important role in the bounding gait of quadruped animals. In a previous study, we investigated the effects of body flexibility on foot loading by comparing two different physical models, with and without a flexible body-joint. Testing both models with equal mechanical energy revealed two conflicting results: Body flexibility reduced the maximum ground reaction force, but a stiffer body exhibited a smaller maximum ground reaction force than a highly flexible body. Because of the complex nature of the model dynamics, the mechanisms underlying these results are unclear. In the current study, we used a simplified analytical model by assuming physical constraints on our previous model to clarify the dynamic roles of body flexibility, particularly regarding foot loading. Approximate periodic solutions were derived by linearization of the governing equations and provide an explanation for our conflicting results. Furthermore, we discussed the biological relevance of our findings using a comparison of our analytical results with observations of movement in cheetahs. Our findings will not only improve the understanding of motor control mechanisms for fast locomotion in quadruped animals, but also provide a guiding principle for the mechanical and control design of legged robots capable of fast locomotion.