吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (6): 1692-1697.doi: 10.13229/j.cnki.jdxbgxb201406024

Previous Articles     Next Articles

Foot-ground contact analysis of German shepherd dog in walking, trotting and jumping gaits

QIAN Zhi-hui1, MIAO Huai-bin1, Shang Zhen2, REN Lu-quan1   

  1. 1.Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China;
    2.College of Automotive Engineering, Jilin University, Changchun 130022,China
  • Received:2013-11-14 Online:2014-11-01 Published:2014-11-01

RICH HTML

0   

PDF (PC)

674

Abstract: The foot-ground contact biomechanics of German Shepherd Dog (GSD) in normal walking, trotting and jumping gaits were investigated using a pressure plate system. The peak of the vertical ground reaction force and the dynamic foot pressure distribution on the paw pad of right-forefoot was measured and analyzed. It was found that the peak ground reaction force acting on the forefoot was about 0.69 times of the weight of GSD in walking gait; while in jumping gait, the reaction force increased to 1.43 times of weight of GSD. Meantime, along with the increase in the vertical foot-ground impact force, GSD made adjustment of its foot contact region for force bearing. In walking gait, the contact region was the 4th and 5th toes, and in jumping gait the contact region was shifted to the 3rd, 4th toes and metacarpal. Such adjustment is of great benefit to cushion and impact energy absorption.

Key words: engineering bionics, canine animal, gait, foot pressure, buffering, biomechanics

CLC Number: 

  • TB17
[1] Hirose S, Kato K. Study on quadruped walking robot in tokyo institute of technology-future[C]∥IEEE International on Robotics and Automation, San Francisco, 2000: 414-419.
[2] 高峰. 机构学研究现状与发展趋势的思考[J]. 机械工程学报,2005,41(8): 3-17. Gao Feng. Reflection on the current status and development strategy of mechanism research[J]. Chinese Journal of Mechanical Engineering, 2005,41(8): 3-17.
[3] 陈学东,郭鸿勋,渡边桂吾. 四足步行机器人爬行步态的正运动学分析[J]. 机械工程学报, 2003, 39(2):8-12. Chen Xue-dong, Guo Hong-xun, Keigo Watanabe. Direct kinematics analysis of crawl gait for a quadruped robot[J]. Chinese Journal of Mechanical Engineering, 2003, 39(2):8-12.
[4] 王吉岱, 卢坤媛, 徐淑芬, 等. 四足步行机器人研究现状及展望[J]. 制造业自动化, 2009,31(2): 4-6. Wang Ji-dai, Lu Kun-yuan, Xu Shu-fen, et al. Research situation and prospect on quadruped walking robot[J]. Manufacturing Automation, 2009, 31(2): 4-6.
[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] Lu Y X. Significance and progress of bionics[J]. Journal of Bionics Engineering, 2004, 1(1):1-3.
[7] Mennitto G, Bueheler M. CARL: A complaint articulated robot leg for dynamic locomotion[J]. Robotics and Autonomous Systems, 1996, 18(3): 337-344.
[8] Marhefka D W, Orin D E. Intelligent control of quadruped gallops[J]. IEEE/ASME Transaction on Mechatronics, 2003, 8(4): 446-456.
[9] 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.
[10] 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.
[11] Budsberg S C, Verstraete M C, Brown J, et al. Vertical loading rates in clinically normal dogs at a trot[J]. American Journal of Veterinary Research, 1995, 56(10): 1275-1280.
[12] Jahss M H, Kummer F, Michelson J D. Investigations into the fat pads of the sole of the foot: heel pressure studies[J]. Foot & Ankle, 1992, 13(5): 227-232.
[13] Biewener A A. Biomechanics of mammalian terrestrial locomotion[J]. Science, 1990, 250(4984): 1097-1103.
[14] Chi K J. Functional implications of the mechanical inhomogeneity in mammalian paw pads[C]∥Integrative and Comparative Biology, New Orleans,2003: 827.
[15] Rumph P F, Lander J E, Kincaid S A, et al. Ground reaction force profiles from force platform gait analyses of clinically normal mesomorphic dogs at the trot[J]. American Journal of Veterinary Research, 1994, 55(6): 756-761.
[16] 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.
[1] XI Peng,CONG Qian,WANG Qing-bo,GUO Hua-xi. Wear test and anti-friction mechanism analysis of bionic stripe grinding roll [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1787-1792.
[2] GUO Hao-tian,XU Tao,LIANG Xiao,YU Zheng-lei,LIU Huan,MA Long. Optimization on thermal surface with rib turbulator inspired by turbulence of alopias' gill in simplified gas turbine transition piece [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1793-1798.
[3] CHEN Ji-qing, DU Tian-ya, LAN Feng-chong. Numerical analysis of human liver biomechanical response to blunt impacts [J]. 吉林大学学报(工学版), 2018, 48(2): 398-406.
[4] QIAN Zhi-hui, ZHOU Liang, REN Lei, REN Lu-quan. Completely passive walking machine with bionic subtalar joint and matatarsal phalangeal joint [J]. 吉林大学学报(工学版), 2018, 48(1): 205-211.
[5] GE Chang-jiang, YE Hui, HU Xing-jun, YU Zheng-lei. Prediction and control of trailing edge noise on owl wings [J]. 吉林大学学报(工学版), 2016, 46(6): 1981-1986.
[6] LI Meng, SU Yi-nao, SUN You-hong, GAO Ke. High matrix bionic abnormal shape impregnated diamond bit [J]. 吉林大学学报(工学版), 2016, 46(5): 1540-1545.
[7] CAO Fu-cheng, XING Xiao-xue, LI Yuan-chun, ZHAO Xi-lu. Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot [J]. 吉林大学学报(工学版), 2016, 46(5): 1602-1608.
[8] LIANG Yun-hong, REN Lu-quan. Preliminary study of habitat and its bionics [J]. 吉林大学学报(工学版), 2016, 46(5): 1746-1756.
[9] ZHANG Shuai-shuai, RONG Xue-wen, LI Yi-bin, LI Bin. Static gait planning method for quadruped robots on rough terrains [J]. 吉林大学学报(工学版), 2016, 46(4): 1287-1296.
[10] LIANG Yun-hong, REN Lu-quan. Preliminary study of bionics in human life [J]. 吉林大学学报(工学版), 2016, 46(4): 1373-1384.
[11] QIAN Zhi-hui, MIAO Huai-bin, REN Lei, REN Lu-quan. Lower limb joint angles of German shepherd dog during foot-ground contact in different gait patterns [J]. 吉林大学学报(工学版), 2015, 45(6): 1857-1862.
[12] ZOU Meng, YU Yong-jun, ZHANG Rong-rong, WEI Can-gang, WANG Hui-xia. Simulation analysis of energy-absorption properties of thin-wall tube based on horn structure [J]. 吉林大学学报(工学版), 2015, 45(6): 1863-1868.
[13] YANG Zhuo-juan, WANG Qing-cheng, GAO Ying, MEN Yu-zhuo, YANG Xiao-dong. Effect of different solutions on the wettability of lotus leaves [J]. 吉林大学学报(工学版), 2015, 45(6): 1869-1873.
[14] TIAN Wei-jun, WANG Ji-yue1, LI Ming1, CHEN Si-yuan, LIU Fang-yuan, CONG Qian. Bionic design of the small blade of horizontal axis wind turbines [J]. 吉林大学学报(工学版), 2015, 45(5): 1495-1501.
[15] LI Man-tian, JIANG Zhen-yu, WANG Peng-fei, SUN Li-ning. Trotting gait control of quadruped robot with straight legs based on virtual elements [J]. 吉林大学学报(工学版), 2015, 45(5): 1502-1511.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd