Producing alternating gait on uncoupled feline hindlimbs: muscular unloading rule on a biomimetic robot
Producing alternating gait on uncoupled feline hindlimbs: muscular unloading rule on a biomimetic robot
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DOI：
10.1080/01691864.2013.870495
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发表时间：
2014-03-19
影响因子：
2
通讯作者：
Hosoda, K.
中科院分区：
文献类型：
--
作者：
Rosendo, A.;Nakatsu, S.;Hosoda, K.
对去大脑步行猫的研究表明，相变与四肢的肌肉感觉信号密切相关。为了进一步研究这种信号终止站立阶段的作用，我们开发了一个仿生猫平台。采用从Acinonyx jubatus的链接长度和力矩臂，我们建立了一对后肢连接到后躯，并将其连接到滑动支柱，模拟坚实的前肢。人工气动肌肉是通过一种基于步行猫（Felis卡图斯）肌电信号的控制方法来模拟生物肌肉。使用生物启发的肌肉卸载规则，其中减少地面反作用力触发相变，在跑步机上实现稳定行走。最后，使用卸载规则可以实现交替步态，承受干扰和系统的肌肉变化，不仅有助于我们理解猫如何行走，还有助于开发更好的腿式机器人。
Studies on decerebrate walking cats have shown that phase transition is strongly related to muscular sensory signals at limbs. To further investigate the role of such signals terminating the stance phase, we developed a biomimetic feline platform. Adopting link lengths and moment arms from an Acinonyx jubatus, we built a pair of hindlimbs connected to a hindquarter and attached it to a sliding strut, simulating solid forelimbs. Artificial pneumatic muscles simulate biological muscles through a control method based on EMG signals from walking cats (Felis catus). Using the bio-inspired muscular unloading rule, where a decreasing ground reaction force triggers phase transition, stable walking on a treadmill was achieved. Finally, an alternating gait is possible using the unloading rule, withstanding disturbances and systematic muscular changes, not only contributing to our understanding on how cats may walk, but also helping develop better legged robots.