As the fastest land animal,cheetah has important reference significance for the research of high-speed quadruped robots in terms of its body structure,motion characteristics and control mechanism.In this paper,we used...As the fastest land animal,cheetah has important reference significance for the research of high-speed quadruped robots in terms of its body structure,motion characteristics and control mechanism.In this paper,we used digital reconstruction to analyze the mechanism of the cheetah’s high-speed movement.Considering the body size and quality of a real cheetah,a simplified virtual model of cheetah was built.Using the D-H method,the kinematics and dynamics of the cheetah’s leg mechanism were established.By using the foot trajectory data of the cheetah’s running gait obtained from biological research,each joint angle,virtual leg length,leg-to-ground contact angle,leg energy,joint torque,and the manipulability of the leg mechanism were analyzed and compared in the time dimension.Finally,the high-speed motion law of engineering guiding significance was extracted.展开更多
基金National Natural Science Foundation of China(Grant No.50905012).
文摘As the fastest land animal,cheetah has important reference significance for the research of high-speed quadruped robots in terms of its body structure,motion characteristics and control mechanism.In this paper,we used digital reconstruction to analyze the mechanism of the cheetah’s high-speed movement.Considering the body size and quality of a real cheetah,a simplified virtual model of cheetah was built.Using the D-H method,the kinematics and dynamics of the cheetah’s leg mechanism were established.By using the foot trajectory data of the cheetah’s running gait obtained from biological research,each joint angle,virtual leg length,leg-to-ground contact angle,leg energy,joint torque,and the manipulability of the leg mechanism were analyzed and compared in the time dimension.Finally,the high-speed motion law of engineering guiding significance was extracted.
