Trotting gait analysis of a lizard using motion capture

Kim, Chang-Hoi; Shin, Hocheol; Lee, Heung-Ho

doi:10.1109/iccas.2013.6704140

Cited by 11 publications

(4 citation statements)

References 5 publications

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“…However, this strategy still has several technical obstacles, including high artificial expenses and expertise. Kim et al [17] proposed a spatially based joint gait and used it with lizard kinematics models after collecting data on lizard movement using infrared cameras. However, this strategy is currently only relevant to a single species, and trials for other animals must be developed to collect data.…”

Section: Introductionmentioning

confidence: 99%

Vision-Based Quadruped Pose Estimation and Gait Parameter Extraction Method

et al. 2022

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In the study of animal behavior, the prevention of sickness, and the gait planning of legged robots, pose estimation, and gait parameter extraction of quadrupeds are of tremendous importance. However, there are several varieties of quadrupeds, and distinct species frequently have radically diverse body types, limb configurations, and gaits. Currently, it is challenging to forecast animal pose estimation with any degree of accuracy. This research developed a quadruped animal pose estimation and gait parameter extraction method to address this problem. A computational framework including three components of target screening, animal pose estimation model, and animal gaits parameter extraction, which can totally and efficiently solve the problem of quadruped animal pose estimation and gait parameter extraction, makes up its core. On the basis of the HRNet network, an improved quadruped animal keypoint extraction network, RFB-HRNet, was proposed to enhance the extraction effect of quadruped pose estimation. The basic concept was to use a DyConv (dynamic convolution) module and an RFB (receptive field block) module to propose a special receptive field module DyC-RFB to optimize the feature extraction capability of the HRNet network at stage 1 and to enhance the feature extraction capability of the entire network model. The public dataset AP10K was then used to validate the model’s performance, and it was discovered that the proposed method was superior to alternative methods. Second, a two-stage cascade network was created by adding an object detection network to the front end of the pose estimation network to filter the animal object in input images, which enhanced the pose estimation effect of small targets and multitargets. The acquired keypoints data of animals were then utilized to extract the gait parameters of the experimental objects. Experiment findings showed that the gait parameter extraction model proposed in this research could effectively extract the gait frequency, gait sequence, gait duty cycle, and gait trajectory parameters of quadruped animals, and obtain real-time and accurate gait trajectory.

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Section: Introductionmentioning

confidence: 99%

Vision-Based Quadruped Pose Estimation and Gait Parameter Extraction Method

et al. 2022

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“…A lizard is a commonly seen reptile whose mechanics have been studied in detail in the following literature [3]. It was found that the walking and trotting gaits [4] exhibited by the lizards were similar to that of the mammals. The biomechanics and kinematics of the sprawling pattern exhibited by the lizards were studied extensively Supported by Tentacles Robotic Foundation.…”

Section: Introductionmentioning

confidence: 99%

“…The lizard-based bio-inspired robots have been made in the past, such as a water running robot [8], a leg mechanism [9], and a quadrupeds [10,11]. Motion analyis [12], motion planning [13], and gait planning [14] based on kinematics of the Gecko have been done on robotic lizards. A seven degrees of freedom robotic Gecko has been developed for the experimental verification of the kinematic analysis [15].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms

Rajashekhar¹,

Raj²,

Vishwesh³

et al. 2021

Lecture Notes in Mechanical Engineering

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Legged robots are being used to explore rough terrains as they are capable of traversing gaps and obstacles. In this paper, a new mechanism is designed to replicate a robotic lizard using integrated five-bar mechanisms. There are two fivebar mechanisms from which two more are formed by connecting the links in a particular order. The legs are attached to the links of the five-bar mechanism such that, when the mechanism is actuated, they move the robot forward. Position analysis using vector loop approach has been done for the mechanism. A prototype has been built and controlled using servomotors to verify the robotic lizard mechanism.

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“…In recent years, the lizard in particular, has been referred to as a biological model to locomote a mobile robot because of its advantage in multi-directional crawling with up to 24 [13] including climbing a vertical walls. For stable walking in straight, curved and inclined/declined path, the positions of supporting feet and position of center of gravity play an important role [14].…”

Section: Introductionmentioning

confidence: 99%

Soft-amphibious robot using thin and soft McKibben actuator

Faudzi

Razif

Endo

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper introduces a quadruped soft-amphibious robot using 4.0 mm diameter thin and soft McKibben actuator. The robot utilizes its leg and body bending mechanism to locomote. For each leg, three links of the actuators are arranged in parallel with fixed upper and bottom part. Then, four actuators are arranged in parallel and fixed with a thin plastic plate in between the actuators for the body motion. The elastic deformation of the plastic plate actuated by the actuators assist in the side-to-side motion of the robot mimicking the gait of the biological creature like lizard/salamander during walking motion. FEM simulation studies were performed in Marc Mentat® to evaluate the bending behaviors and validated with an experimental test. Walking experiment was tested on a flat surface and on sand using two different gaits of trot and crawl gait. On the other hand, swimming experiment was tested inside water using only crawl gait. Different input pressure and frequency were varied to study the walking behavior. The robot successfully walks on a flat and 10 o incline plane with a maximum speed of 0.056 m/s using trot gait and robust to move on sand and in water using the crawl gait at 0.041 m/s and 0.022 m/s, respectively.

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Trotting gait analysis of a lizard using motion capture

Cited by 11 publications

References 5 publications

Vision-Based Quadruped Pose Estimation and Gait Parameter Extraction Method

Vision-Based Quadruped Pose Estimation and Gait Parameter Extraction Method

Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms

Soft-amphibious robot using thin and soft McKibben actuator

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