TY - GEN
T1 - Foot trajectory planning of frog swimming based on propulsion mechanism
AU - Wei, Zhang
AU - Gangfeng, Liu
AU - Jizhuang, Fan
AU - Hegao, Cai
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - To provide reasonable reference trajectories for frog inspired robot, the bionic trajectory generation was studied in this paper. Though joint trajectories vary with different motion modes, joint speeds are too fast and tuned with the musculoskeletal system. However, mechanical structures of bionic robot are simplified and diver abilities limit the speed, so the method to generate joint trajectories which not only reflect the characteristics of real frog swimming but also are within the limitation of drivers were proposed in this paper. Firstly, swimming mechanism of frog was briefly introduced to analyze motion patterns of hind limbs and webbed feet. Secondly, trajectory (relative to body) planning was divided into hind limb planning and webbed foot planning. Hind limb trajectory planning was conducted via end track planning and acceleration planning, while acceleration planning was operated for webbed foot planning. Then, trajectories could be operated from fast to slow by adjusting duration time of the planned trajectories. Finally, the trajectories were used as input of hydrodynamic simulation to validate the trajectory planning method.
AB - To provide reasonable reference trajectories for frog inspired robot, the bionic trajectory generation was studied in this paper. Though joint trajectories vary with different motion modes, joint speeds are too fast and tuned with the musculoskeletal system. However, mechanical structures of bionic robot are simplified and diver abilities limit the speed, so the method to generate joint trajectories which not only reflect the characteristics of real frog swimming but also are within the limitation of drivers were proposed in this paper. Firstly, swimming mechanism of frog was briefly introduced to analyze motion patterns of hind limbs and webbed feet. Secondly, trajectory (relative to body) planning was divided into hind limb planning and webbed foot planning. Hind limb trajectory planning was conducted via end track planning and acceleration planning, while acceleration planning was operated for webbed foot planning. Then, trajectories could be operated from fast to slow by adjusting duration time of the planned trajectories. Finally, the trajectories were used as input of hydrodynamic simulation to validate the trajectory planning method.
UR - https://www.scopus.com/pages/publications/84964493032
U2 - 10.1109/ROBIO.2015.7418890
DO - 10.1109/ROBIO.2015.7418890
M3 - 会议稿件
AN - SCOPUS:84964493032
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 929
EP - 933
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -