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http://dx.doi.org/10.3795/KSME-A.2014.38.6.585

Development of Multi-Body Dynamics Simulator for Bio-Mimetic Motion in Lizard Robot Design  

Park, Yong-Ik (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,)
Seo, Bong Cheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,)
Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.,)
Shin, Hocheol (Robot Technology Team, Korea Atomic Energy Research Institute)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.38, no.6, 2014 , pp. 585-592 More about this Journal
Abstract
In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.
Keywords
Bio-Mimetic; Motion Capture; Multi-Body Dynamics Simulator; Lizard Robot;
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Times Cited By KSCI : 1  (Citation Analysis)
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