• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.10
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• pp.1436-1443
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• 2013

A variety of studies on imitating the skeletal structure and the gait of legged animals have been done in order to develop walking robots which have an ability to adapt to atypical environments. In this paper, we analyzed the gait of a Bearded dragon lizard using the motion capture system, proposed a calibration scheme of the motion data and generated the trotting gait of a lizard based on the calibrated data. Also, we constructed the dynamic model based on the biometric data of a Bearded dragon lizard and applied the trotting gait of the lizard to the dynamic model. We verified the validity of the gait with the commercial dynamic simulation software.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.620-625
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• 2013

Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.