ArticleBiomimetics (Basel, Switzerland)2022
Analysis of Kinematic Characteristics of Saanen Goat Spine under Multi-Slope.
Article in Biomimetics (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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2 citing papers in PubMed, 4 citations in OpenAlex.
- Research on Adhesion Performance of Track Monomer with Bionic Structure.Biomimetics (Basel, Switzerland) · 2025Article
- Design and Test of Tread-Pattern Structure of Biomimetic Goat-Sole Tires.Biomimetics (Basel, Switzerland) · 2022Article
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8 authors at 1 institution in 1 country.
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Abstract
In order to improve the slope movement stability and flexibility of quadruped robot, a theoretical design method of a flexible spine of a robot that was based on bionics was proposed. The kinematic characteristics of the spine were analyzed under different slopes with a Saanen goat as the research object. A Qualisys track manager (QTM) gait analysis system was used to obtain the trunk movement of goats under multiple slopes, and linear time normalization (LTN) was used to calibrate and match typical gait cycles to characterize the goat locomotion gait under slopes. Firstly, the spatial angle changes of cervical thoracic vertebrae, thoracolumbar vertebrae, and lumbar vertebrae were compared and analyzed under 0°, 5°, 10°, and 15° slopes, and it was found that the rigid and flexible coupling structure between the thoraco-lumbar vertebrae played an obvious role when moving on the slope. Moreover, with the increase in slope, the movement of the spine changed to the coupling movement of thoraco-lumbar coordination movement and a flexible swing of lumbar vertebrae. Then, the Gaussian mixture model (GMM) clustering algorithm was used to analyze the changes of the thoraco-lumbar vertebrae and lumbar vertebrae in different directions. Combined with anatomical knowledge, it was found that the motion of the thoraco-lumbar vertebrae and lumbar vertebrae in the goat was mainly manifested as a left-right swing in the coronal plane. Finally, on the basis of the analysis of the maximin and variation range of the thoraco-lumbar vertebrae and lumbar vertebrae in the coronal plane, it was found that the coupling motion of the thoraco-lumbar cooperative motion and flexible swing of the lumbar vertebrae at the slope of 10° had the most significant effect on the motion stability. SSE, R
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