Bionic Control of Cheetah Bounding with a Segmented Spine
Joint Authors
Source
Applied Bionics and Biomechanics
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-25
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah.
In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding.
For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine.
The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance.
The haptic sensor and proprioception system are used to detect the trigger of the phase transition.
Besides, the vestibular modulation could perceive the pitching angle of the trunk.
At last, the cerebellum acts as the CPU to operate the information from the biological sensors.
In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding.
Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion.
Finally, the cyclic cheetah bounding with biological properties is realized.
Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.
American Psychological Association (APA)
Wang, Chunlei& Wang, Shigang. 2016. Bionic Control of Cheetah Bounding with a Segmented Spine. Applied Bionics and Biomechanics،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1094820
Modern Language Association (MLA)
Wang, Chunlei& Wang, Shigang. Bionic Control of Cheetah Bounding with a Segmented Spine. Applied Bionics and Biomechanics No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1094820
American Medical Association (AMA)
Wang, Chunlei& Wang, Shigang. Bionic Control of Cheetah Bounding with a Segmented Spine. Applied Bionics and Biomechanics. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1094820
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1094820