Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Kinematic Modelling of the Trot of a Lizard Based on the Motion Capture

모션 캡쳐에 기반한 도마뱀 속보에 대한 기구학적 모델링

  • Kim, Chang Hoi (Nuclear Technology Convergence Division, Korea Atomic Energy Research Institute) ;
  • Shin, Ho Cheol (Nuclear Technology Convergence Division, Korea Atomic Energy Research Institute) ;
  • Lee, Heung Ho (Electrical Engineering Division, Chungnam National University)
  • 김창회 (한국원자력연구원 원자력융합기술개발부) ;
  • 신호철 (한국원자력연구원 원자력융합기술개발부) ;
  • 이흥호 (충남대학교 전기공학과)
  • Received : 2013.06.05
  • Published : 2013.08.15
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Abstract

The importance of the robots has emerged as the means of minimizing the casualties in the future war, and, thus, the biomimetic robots mimicking the optimized organisms has been actively studied. The robot inspired lizard is suitable for reconnaissance and the surveillance in narrow areas. In this paper, we analyzed the locomotion of a lizard by motion capture system using the infrared markers. We attached 21 markers to the joints of the lizard. By considering the measured data, we analyzed the walking motion of the lizard which trots in a sprawled posture. Moreover, we proposed the 25 dof kinematic model which was able to reproduce the gait of the lizard faithfully. The model was verified by simulations.

미래의 전쟁에서 인명 피해를 최소화하기 위한 방안으로 로봇의 중요성이 부각되고 있으며 최적으로 진화된 생물체를 모방하는 생체모방로봇에 대한 연구가 활발하게 추진되고 있다. 도마뱀 모방형 로봇은 협소한 지역에서 은밀한 접근 및 은닉을 필요로 하는 정찰 및 감시 등의 임무를 수행하기에 적합하다. 본 논문에서는 적외선 마커를 이용하여 도마뱀의 보행동작을 분석하였다. 쿠반 에놀의 관절 부위에 21 개의 마커를 부착하고 광학적 모션 캡쳐 장비를 사용하여 도마뱀의 보행 동작을 측정하였다. 측정된 데이터를 분석하여 펼친 자세로 속보로 보행하는 도마뱀의 걸음 동작을 분석하였다. 또한 도마뱀의 걸음새를 충실하게 구현 가능하도록 25 자유도를 갖는 기구학 모델을 제안하였으며 시뮬레이션을 통하여 모델링의 타당성을 확인하였다.

Keywords

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