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http://dx.doi.org/10.5573/ieek.2013.50.8.264

Kinematic Modelling of the Trot of a Lizard Based on the Motion Capture  

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)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.8, 2013 , pp. 264-273 More about this Journal
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.
Keywords
Biomimetic robot; Lizard locomotion; Sprawled posture; Gait; Kinematic model;
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Times Cited By KSCI : 4  (Citation Analysis)
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