[2018-Vol.15-Issue 5]Bio-inspired Topological Skeleton for the Analysis of Quadruped Kinematic Gait
Time: 2018-09-28 14:12  Click:211

Journal of Bionic Engineering

September 2018, Volume 15, Issue 5, pp 839–850

Benjamin BoudonEmail author, Jean-Marc Linares, Anick Abourachid, Arthur Vauquelin, Emmanuel Mermoz

1.CNRS, ISM, Aix Marseille University, Marseille, France

2.Muséum National d’Histoire Naturelle, Pavillon d’Anatomie Comparée, Paris Cedex 05, France

3.Airbus Helicopters, Aéroport de Marseille Provence, Marignane, France

   Abstract

In bio-inspired design activities, nature is a basis of knowledge. Over the last twenty years, many solutions to measure and analyze human or animal gaits have been developed (VICON system, X-ray radiography...). Although, these methods are becoming more and more accurate, they are quite expensive, long to set up and not easily portable. In this paper, a method called the bio-inspired topological skeleton is proposed in order to complement the classic videography process and to enable animal gait analysis. A new predictive kinematic model with closed-loops of an unguligrade quadruped is suggested. This kinematic model includes three segments per leg and takes into account the scapula movements. The proposed method allows us to improve the accuracy of the kinematic input data measured from a single video including an additional artefact. To show the benefits of this method, joint parameters that are difficult to measure are derived symbolically from the kinematic model and compared with experimental data.

Keywords

quadruped locomotion    motion analysis    topological skeleton    closed-form solutions    Multibody Systems (MBS) 

Full text is available at : https://link.springer.com/article/10.1007/s42235-018-0071-3

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