吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1857-1862.doi: 10.13229/j.cnki.jdxbgxb201506019

• • 上一篇    下一篇

基于多种步态的德国牧羊犬下肢关节角

钱志辉1， 苗怀彬1， 任雷1，2， 任露泉1   

  1. 1.吉林大学 工程仿生教育部重点实验室,长春 130022;
    2.School of Mechanical,Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL,UK
  • 收稿日期:2014-07-04 出版日期:2015-11-01 发布日期:2015-11-01
  • 通讯作者: 任露泉(1944-),男,教授,博士生导师,中国科学院院士.研究方向:工程仿生学.E-mail:lqren@jlu.edu.cn
  • 作者简介:钱志辉(1981-),男,副教授,博士.研究方向:生物力学与工程仿生.E-mail:zhqian@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51105167); 吉林省科技发展计划项目(20130522187JH); 中国博士后基金项目(2013M530985); 博士后特别基金项目(2014T70293); 教育部重点实验室开放基金项目(K201415)

Lower limb joint angles of German shepherd dog during foot-ground contact in different gait patterns

QIAN Zhi-hui1, MIAO Huai-bin1, REN Lei1,2, REN Lu-quan1   

  1. 1.Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, 130022, China;
    2.School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL,UK
  • Received:2014-07-04 Online:2015-11-01 Published:2015-11-01

RICH HTML

0   

PDF (PC)

564

摘要： 以陆地四足动物-德国牧羊犬的前肢为研究对象,采用光学三维运动捕捉技术测试分析多种步态下犬足-地冲击过程中其前肢各关节的运动学特征,研究其前肢关节对地面冲击作用进行调整和适应的规律。关节运动时序、运动幅度及变化范围表明:牧羊犬通过前肢的多关节屈曲协调运动缓冲地面反力作用,相比掌-指关节,犬前肢肩关节、肘关节、腕关节在触地缓冲阶段的作用较明显;犬前肢的缓冲是一种多关节的时空协调运动,肩关节、肘关节、腕关节发挥屈曲缓冲作用的时刻不同,腕关节要早于肩关节,肩关节早于肘关节;同时发现,随着地面冲击作用力的增大,牧羊犬前肢指骨的初始触地角度也随之增长,这种适应性调整可能有利于延长足-地作用时间,进而减小地反力作用强度。

关键词: 工程仿生学, 生物力学, 犬科动物, 关节角, 屈曲运动, 缓冲

Abstract: The forelimb of German Shepherd Dog (GSD), a land quadruped animal, was selected as the subject, and the kinematical characteristics of each joint in for-lower limb under various gaits in the foot-ground impact phase were analyzed using optical three-dimensional motion capture technology. The focus is to reveal how does each fore-lower limb joint adjust and adapt to the ground impact. The analyses of joint movement sequence and joint angle variations show that GSD employs the coordination of multi-joint flexion motion of the fore-lower limb to buffer ground reaction force. Compared with metacarpal-phalangeal joint, the humeral joint, cubital joint and carpal joint of GSD play more important roles in ground impact absorption; while, the flexion motion of these three joints function in different contact phases. The flexion of carpal joint happens first, then the humeral joint, and finally the cubital joint. This may show that the coordination of multi-joint flexion of GSD has spatio-temporal characteristics. This study also finds that the initial contact angle between ground and GSD finger increases with the ground impact force. This adaptive adjustment may help GSD to prolong the cushion time during foot-ground impact phase, thus, decreasing the strength of ground reaction force.

Key words: engineering bionics, biomechanics, canine animal, joint angle, flexion motion, buffering

中图分类号: 

  • TB17
[1] 黄俊军,葛世荣,曹为. 多足步行机器人研究现状及展望[J]. 机床与液压,2008,36(5): 187-191.
Huang Jun-jun, Ge Shi-rong, Cao Wei. Multi-feet walk robot research and its forecast[J]. Machine Tool and Hydraulics,2008,36(5): 187-191.
[2] Miller D P. Multiple behaviour-controlled micro-robots for planetary surface-missions[C]∥Proceedings of the IEEE International Conference on Systems, Man and Cybemetics,USA,1990: 289-292.
[3] Delcomyn F, Nehon M E.Awhitectures for a biomimetie hexapod robot[J]. Robotics and Autonomom Systems,2000,30(1):5-15.
[4] Hirose S, Kato K. Study on quadruped walking robot in Tokyo institute of technology-future[C]∥IEEE International Conference on Robotics and Automation,San Francisco,2000:414-419.
[5] 马建旭,马培荪,杨保忠,等. 四足步行机器人中一种新型腿结构缓冲特性[J]. 上海交通大学学报,1999,33(7): 847-850.
Ma Jian-xu, Ma Pei-sun, Yang Bao-zhong,et al. Buffering of new walking mechanism in quadruped walking robot[J]. Journal of Shanghai Jiaotong University,1999,33(7):847-850.
[6] Zhang Z G, Fukuoka Y, Kimura H. Stable quadrupedal running based on a spring-loaded two-segment legged model[C]∥IEEE International Conference on Robotics & Automation, New Orieans,2004:2601-2606.
[7] Papadopoulos D, Buehler M. Stable running in a quadruped robot with compliant legs[C]∥IEEE International Conference on Robotics And Automation, San Francisco, 2000:444-449.
[8] Mennitto G, Bueheler M. CARL: a complaint articulated robot leg for dynamic locomotion[J]. Robotics and Autonomous Systems,1996,18(3):337-344.
[9] Marhefka D W, Orin D E. Intelligent control of quadruped gallops[J]. IEEE/ASME Transaction on Mechatronics,2003,8(4):446-456.
[10] Marghitu D B, Nalluri P. Nonlinear dynamic stability of normal and arthritic greyhounds[J]. Nonlinear Dynamics,1997,12(3):237-250.
[11] Abourachid A. A new way of analyzing symmetrical and asymmetrical gaits in quadrupeds[J]. C R Biologies,2003,326(7): 625-630.
[12] Chi K J. Functional implications of the mechanical inhomogeneity in mammalian paw pads[J]. Integrative and Comparative Biology,2003,43(6):827.
[13] 田为军,丛茜,金敬福. 德国牧羊犬的关节角及其地反力[J]. 吉林大学学报:工学版,2009,39(增刊1):227-231.
Tian Wei-jun, Cong Qian, Jin Jing-fu. Joint angles and ground reaction force of German shepherd dog[J]. Journal of Jilin University(Engineering and Technology Edition), 2009,39(Sup.1):227-231.
[14] 钱志辉,苗怀彬,商震,等. 基于多种步态的德国牧羊犬足-地接触分析[J]. 吉林大学学报:工学版,2014,44(6):1692-1697.
Qian Zhi-hui, Miao Huai-bin, Shang Zhen, et al. The foot-ground contact analysis of German shepherd dog based on normal walking, trotting and jumping gait[J]. Journal of Jilin University(Engineering and Technology Edition),2014,44(6):1692-1697.
[1] 熙鹏,丛茜,王庆波,郭华曦. 仿生条纹形磨辊磨损试验及耐磨机理分析[J]. 吉林大学学报(工学版), 2018, 48(6): 1787-1792.
[2] 郭昊添,徐涛,梁逍,于征磊,刘欢,马龙. 仿鲨鳃扰流结构的过渡段换热表面优化设计[J]. 吉林大学学报(工学版), 2018, 48(6): 1793-1798.
[3] 田为军, 王骥月, 李明, 张兴旺, 张勇, 丛茜. 面向水上机器人的水黾运动观测[J]. 吉林大学学报(工学版), 2018, 48(3): 812-820.
[4] 陈吉清, 杜天亚, 兰凤崇. 钝性碰撞中人体肝脏生物力学响应数值分析[J]. 吉林大学学报(工学版), 2018, 48(2): 398-406.
[5] 钱志辉, 周亮, 任雷, 任露泉. 具有仿生距下关节和跖趾关节的完全被动步行机[J]. 吉林大学学报(工学版), 2018, 48(1): 205-211.
[6] 田丽梅, 王养俊, 李子源, 商延赓. 仿生功能表面内流减阻测试系统的研制[J]. 吉林大学学报(工学版), 2017, 47(4): 1179-1184.
[7] 陈东辉, 刘伟, 吕建华, 常志勇, 吴婷, 慕海锋. 基于虾夷扇贝体表结构的玉米茬根捡拾器仿生设计[J]. 吉林大学学报(工学版), 2017, 47(4): 1185-1193.
[8] 王颖, 李建桥, 张广权, 黄晗, 邹猛. 基于多种介质的仿生步行足力学特性[J]. 吉林大学学报(工学版), 2017, 47(2): 546-551.
[9] 王力玉, 陈岚, 郝晓冉, 王强, 倪茂. 基于生命值敏感的闪存数据库缓冲区替换算法[J]. 吉林大学学报(工学版), 2017, 47(2): 632-638.
[10] 高继东, 曾必强, 彭伟. 电动自行车与轿车碰撞中骑车人的伤害特征[J]. 吉林大学学报(工学版), 2016, 46(6): 1786-1791.
[11] 葛长江, 叶辉, 胡兴军, 于征磊. 鸮翼后缘噪声的预测及控制[J]. 吉林大学学报(工学版), 2016, 46(6): 1981-1986.
[12] 李梦, 苏义脑, 孙友宏, 高科. 高胎体仿生异型齿孕镶金刚石钻头[J]. 吉林大学学报(工学版), 2016, 46(5): 1540-1545.
[13] 梁云虹, 任露泉. 自然生境及其仿生学初探[J]. 吉林大学学报(工学版), 2016, 46(5): 1746-1756.
[14] 梁云虹, 任露泉. 人类生活及其仿生学初探[J]. 吉林大学学报(工学版), 2016, 46(4): 1373-1384.
[15] 邹猛， 于用军， 张荣荣， 魏灿刚， 王会霞. 仿牛角结构薄壁管吸能特性仿真分析[J]. 吉林大学学报(工学版), 2015, 45(6): 1863-1868.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
版权所有 © 《吉林大学学报(工学版)》编辑部
地址：长春市人民大街5988号　电话：+86-431-85095297　传真：+86-431-85094074　E-mail: xbgxb@jlu.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发