scholarly journals Trotting Motion of the Quadruped Model with Two Spinal Joints and Its Dynamics Features

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhang Li ◽  
Yuegang Tan
Keyword(s):  
Periodic Motion ◽  
Solution Space ◽  
The Body ◽  
Quadruped Robots ◽  
Hybrid Controller ◽  
Hybrid Dynamics ◽  
Stable Periodic ◽  
Reaction Forces ◽  
Motion Performance ◽  
Passive Model

The spine plays important roles in the quadruped locomotion. To investigate the effects of the spine on the quadruped trotting motion, firstly, a sagittal passive model is proposed which contains four massless springy legs and two passive spinal joints. To generate the trotting gait of the model, the multibody hybrid dynamics model is established based on the defined events. The combination of optimization tools is used to find the suitable solution space in which the model can maintain a periodic motion. It reveals that the quadruped trotting motion results from the coordinated features of the spine and the legs. By comparing the model with the rigid body, it is proven that the spinal joints can reduce the effect of the ground reaction forces on the body in a special velocity range. Then, a hybrid controller whose objective is to maintain the kinematic coordination between the spinal joints is applied and it replaces the passive spinal joints, and the results prove that it can make the model achieve a stable periodic motion. Finally, the prototype of the quadruped robot with two spinal joints based on the model is established and its trotting motion is achieved successfully. The experiment results also indicate the compliant effect of the spine on the motion performance. Consequently, the effects of the spine at trotting gait are helpful to guide the development of the quadruped robots.

scholarly journals A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2838
Author(s):  
Xiaoxing Zhang ◽  
Haoyuan Yi ◽  
Junjun Liu ◽  
Qi Li ◽  
Xin Luo
Keyword(s):  
Harmonic Oscillation ◽  
Ground Surface ◽  
Legged Locomotion ◽  
Soft Ground ◽  
Quadruped Robots ◽  
In Series ◽  
Reaction Forces ◽  
Implementation Method ◽  
The Stability ◽  
Natural Dynamics

There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

Characteristics of Eight Irish Dance LandingsConsiderations for Training and Overuse Injury Prevention

2021 ◽  
Vol 25 (1) ◽  
pp. 30-37
Author(s):  
Sarah Klopp Christensen ◽  
Aaron Wayne Johnson ◽  
Natalie Van Wagoner ◽  
Taryn E. Corey ◽  
Matthew S. McClung ◽  
...  
Keyword(s):  
Large Range ◽  
Force Plate ◽  
Three Dimensional ◽  
The Body ◽  
Peak Force ◽  
Warm Up ◽  
Dance Training ◽  
Rise Rate ◽  
Dance Movements ◽  
Reaction Forces

Irish dance has evolved in aesthetics that lead to greater physical demands on dancers' bodies. Irish dancers must land from difficult moves without letting their knees bend or heels touch the ground, causing large forces to be absorbed by the body. The majority of injuries incurred by Irish dancers are due to overuse (79.6%). The purpose of this study was to determine loads on the body of female Irish dancers, including peak force, rise rate of force, and impulse, in eight common Irish hard shoe and soft shoe dance movements. It was hypothesized that these movements would produce different ground reac- tion force (GRF) characteristics. Sixteen female Irish dancers were recruited from the three highest competitive levels. Each performed a warm-up, reviewed the eight movements, and then performed each movement three times on a force plate, four in soft shoes and four in hard shoes. Ground reaction forces were measured using a three-dimensional force plate recording at 1,000 Hz. Peak force, rise rate, and vertical impulse were calculated. Peak forces normalized by each dancer's body weight for each of these variables were significantly different between move- ments and shoe types [F(15, 15)= 65.4, p < 0.01; F(15, 15) = 65.0, p < 0.01; and F(15, 15) = 67.4, p < 0.01, respectively]. The variable years of experience was not correlated with peak force, rise rate, or impulse (p > 0.40). It is concluded that there was a large range in GRF characteristics among the eight movements studied. Understanding the force of each dance step will allow instructors to develop training routines that help dancers adapt gradually to the high forces experienced in Irish dance training and competitions, thereby limiting the potential for overuse injuries.

scholarly journals Ground Reaction Forces during Vertical Hops Are Correlated with the Number of Supervised Physiotherapy Visits after Achilles Tendon Surgery

2021 ◽  
Vol 10 (22) ◽  
pp. 5299
Author(s):  
Łukasz Sikorski ◽  
Andrzej Czamara
Keyword(s):  
Achilles Tendon ◽  
Study Groups ◽  
The Body ◽  
Ground Reaction Forces ◽  
Group I ◽  
Tendon Surgery ◽  
Reaction Forces ◽  
Number Of Visits ◽  
Group Ii ◽  
The Right

The objective of this study was to assess the effectiveness of, and the correlation between, an average of 42 supervised physiotherapy (SVPh) visits for the vertical ground reaction forces component (vGRF) using ankle hops during two- and one-legged vertical hops (TLH and OLH, respectively), six months after the surgical suturing of the Achilles tendon using the open method (SSATOM) via Keesler’s technique. Hypothesis: Six months of supervised physiotherapy with a higher number of visits (SPHNVs) was positively correlated with higher vGRF values during TLH and OLH. Group I comprised male patients (n = 23) after SSATOM (SVPh x = 42 visits), and Group II comprised males (n = 23) without Achilles tendon injuries. In the study groups, vGRF was measured during TLH and OLH in the landing phase using two force plates. The vGRF was normalized to the body mass. The limb symmetry index (LSI) of vGRF values was calculated. The ranges of motion of the foot and circumferences of the ankle joint and shin were measured. Then, 10 m unassisted walking, the Thompson test, and pain were assessed. A parametric test for dependent and independent samples, ANOVA and Tukey’s test for between-group comparisons, and linear Pearson’s correlation coefficient calculations were performed. Group I revealed significantly lower vGRF values during TLH and OLH for the operated limb and LSI values compared with the right and left legs in Group II (p ≤ 0.001). A larger number of visits correlates with higher vGRF values for the operated limb during TLH (r = 0.503; p = 0.014) and OLH (r = 0.505; p = 0.014). An average of 42 SVPh visits in 6 months was insufficient to obtain similar values of relative vGRF and their LSI during TLH and OLH, but the hypothesis was confirmed that SPHNVs correlate with higher relative vGRF values during TLH and OLH in the landing phase.

Many-legged maneuverability: dynamics of turning in hexapods

1999 ◽  
Vol 202 (12) ◽  
pp. 1603-1623 ◽  
Author(s):  
D.L. Jindrich ◽  
R.J. Full
Keyword(s):  
Horizontal Plane ◽  
Center Of Mass ◽  
Vertical Plane ◽  
Force Production ◽  
The Body ◽  
Mean Velocity ◽  
Blaberus Discoidalis ◽  
Body Design ◽  
Reaction Forces ◽  
Straight Ahead

Remarkable similarities in the vertical plane of forward motion exist among diverse legged runners. The effect of differences in posture may be reflected instead in maneuverability occurring in the horizontal plane. The maneuver we selected was turning during rapid running by the cockroach Blaberus discoidalis, a sprawled-postured arthropod. Executing a turn successfully involves at least two requirements. The animal's mean heading (the direction of the mean velocity vector of the center of mass) must be deflected, and the animal's body must rotate to keep the body axis aligned with the heading. We used two-dimensional kinematics to estimate net forces and rotational torques, and a photoelastic technique to estimate single-leg ground-reaction forces during turning. Stride frequencies and duty factors did not differ among legs during turning. The inside legs ended their steps closer to the body than during straight-ahead running, suggesting that they contributed to turning the body. However, the inside legs did not contribute forces or torques to turning the body, but actively pushed against the turn. Legs farther from the center of rotation on the outside of the turn contributed the majority of force and torque impulse which caused the body to turn. The dynamics of turning could not be predicted from kinematic measurements alone. To interpret the single-leg forces observed during turning, we have developed a general model that relates leg force production and leg position to turning performance. The model predicts that all legs could turn the body. Front legs can contribute most effectively to turning by producing forces nearly perpendicular to the heading, whereas middle and hind legs must produce additional force parallel to the heading. The force production necessary to turn required only minor alterations in the force hexapods generate during dynamically stable, straight-ahead locomotion. A consideration of maneuverability in the horizontal plane revealed that a sprawled-postured, hexapodal body design may provide exceptional performance with simplified control.

Twisting and Bending: The Functional Role of Salamander Lateral Hypaxial Musculature During Locomotion

2001 ◽  
Vol 204 (11) ◽  
pp. 1979-1989 ◽  
Author(s):  
Wallace O. Bennett ◽  
Rachel S. Simons ◽  
Elizabeth L. Brainerd
Keyword(s):  
High Intensity ◽  
High Speed ◽  
The Body ◽  
Transversus Abdominis ◽  
Fine Motor ◽  
Emg Activity ◽  
Ground Reaction Forces ◽  
Terrestrial Locomotion ◽  
Reaction Forces ◽  
Hypaxial Muscle

SUMMARY The function of the lateral hypaxial muscles during locomotion in tetrapods is controversial. Currently, there are two hypotheses of lateral hypaxial muscle function. The first, supported by electromyographic (EMG) data from a lizard (Iguana iguana) and a salamander (Dicamptodon ensatus), suggests that hypaxial muscles function to bend the body during swimming and to resist long-axis torsion during walking. The second, supported by EMG data from lizards during relatively high-speed locomotion, suggests that these muscles function primarily to bend the body during locomotion, not to resist torsional forces. To determine whether the results from D. ensatus hold for another salamander, we recorded lateral hypaxial muscle EMGs synchronized with body and limb kinematics in the tiger salamander Ambystoma tigrinum. In agreement with results from aquatic locomotion in D. ensatus, all four layers of lateral hypaxial musculature were found to show synchronous EMG activity during swimming in A. tigrinum. Our findings for terrestrial locomotion also agree with previous results from D. ensatus and support the torsion resistance hypothesis for terrestrial locomotion. We observed asynchronous EMG bursts of relatively high intensity in the lateral and medial pairs of hypaxial muscles during walking in tiger salamanders (we call these ‘α-bursts’). We infer from this pattern that the more lateral two layers of oblique hypaxial musculature, Mm. obliquus externus superficialis (OES) and obliquus externus profundus (OEP), are active on the side towards which the trunk is bending, while the more medial two layers, Mm. obliquus internus (OI) and transversus abdominis (TA), are active on the opposite side. This result is consistent with the hypothesis proposed for D. ensatus that the OES and OEP generate torsional moments to counteract ground reaction forces generated by forelimb support, while the OI and TA generate torsional moments to counteract ground reaction forces from hindlimb support. However, unlike the EMG pattern reported for D. ensatus, a second, lower-intensity burst of EMG activity (‘β-burst’) was sometimes recorded from the lateral hypaxial muscles in A. tigrinum. As seen in other muscle systems, these β-bursts of hypaxial muscle coactivation may function to provide fine motor control during locomotion. The presence of asynchronous, relatively high-intensity α-bursts indicates that the lateral hypaxial muscles generate torsional moments during terrestrial locomotion, but it is possible that the balance of forces from both α- and β-bursts may allow the lateral hypaxial muscles to contribute to lateral bending of the body as well.

scholarly journals THE EFFECTS OF PEDAL RATES ON PEDAL REACTION FORCES DURING ELLIPTICAL EXERCISE

2007 ◽  
Vol 19 (04) ◽  
pp. 207-214 ◽  
Author(s):  
Hui-Lien Chien ◽  
Tsung-Yuan Tsai ◽  
Tung-Wu Lu
Keyword(s):  
Step Length ◽  
The Body ◽  
Leg Length ◽  
Loading Rates ◽  
Pedal Rate ◽  
Marker Data ◽  
Level Walking ◽  
Basic Force ◽  
Reaction Forces ◽  
Pedaling Rate

Despite the growing popularity in recent years of elliptical exercise (EE), little is known regarding the loadings applied to the body during EE. Since overloading to the body may lead to early fatigue of the muscles and increase the incidence of overuse injuries, such information is necessary for safe use of the elliptical trainer (ET) as a fitness tool. The current study aimed to determine the typical patterns and loading rates of the measured pedal reaction forces (PRF), and to quantify their differences from those during level walking, and the effects of pedaling rate. Fifteen male adults performed level walking and EE while 3D marker data, right PRFs and ground reaction forces (GRF) were measured. The parameters of the ET were set for two different pedal rates: 50 rpm and 70 rpm. For each pedal rate, the parameters were set to match the variables measured during level walking, with a mean step length of 55% leg length and no workload. During early stance the vertical PRF was smaller than the GRF, while the medial and posterior PRF were greater. PRFs also occurred during swing. Loading rates around heelstrike during EE were all smaller than those during walking. The medial, anterior and posterior PRF, as well as the medial and vertial loading rates increased with increasing pedal rates. The basic force patterns of EE and the effects of pedal rate were established in order to determine the true potential for such instrumentation in locomotion analysis. The results will be helpful for future related studies.

A Comparison of Techniques Used in Performing the Men’s Compulsory Gymnastic Vault at the 1988 Olympics

1991 ◽  
Vol 7 (1) ◽  
pp. 54-75 ◽  
Author(s):  
Yoshiaki Takei
Keyword(s):  
Vertical Velocity ◽  
The Body ◽  
Horizontal Velocity ◽  
Extended Position ◽  
Reaction Forces ◽  
Comparison Of Techniques ◽  
Subsequent Phase

It was hypothesized that the techniques employed by two groups of male gymnasts in performing the handspring and salto forward tucked vault at the 1988 Olympics were not significantly different. The 11 highest scored vaults (Gl) of the 51 subjects filmed during the competition were compared with the 11 lowest scored vaults (G2). The G1 had (a) significantly greater horizontal velocity of hurdle and preflight and (b) significantly greater vertical reaction forces exerted on them by the horse, which in turn produced a significantly greater change of vertical velocity while on horse. Consequently, the better gymnasts departed from the horse with significantly greater vertical velocity, which resulted in significantly greater height, larger distance, and longer time of postflight than the gymnasts in G2. The better gymnasts had the instant of the tightest tuck position while significantly nearer the instant of peak postflight than the G2 gymnasts, which caused the height of CG at the tightest tuck position to be significantly greater for the better gymnasts. During the subsequent phase of the vault, the better gymnasts moved out of the tuck position higher in midair, extended the body more fully, and held this extended position longer to a controlled landing on the mat, all of which the judges are seeking.

ON THE INFLUENCE OF THE RESONANT FREQUENCIES RATIO ON A STABLE PERIODIC SOLUTION OF TWO IMPACTING OSCILLATORS

2006 ◽  
Vol 16 (12) ◽  
pp. 3707-3715 ◽  
Author(s):  
KRZYSZTOF CZOLCZYNSKI ◽  
TOMASZ KAPITANIAK
Keyword(s):  
Periodic Solution ◽  
Periodic Motion ◽  
Stable Periodic Solution ◽  
Resonant Frequencies ◽  
Stable Periodic

A system that consists of two impacting oscillators with damping has been considered in this paper. The goal of the studies was to determine the relation between the values of resonant frequencies of the oscillators and the existence of their stable periodic motion. This paper indicates various origins of the periodicity of motion and offers a some advice to the designers of systems with impacts. Especially, the results of the considerations point out some potentially dangerous consequences of the improper value of the resonant frequencies ratio.

The Dynamic Response and Sensitivity Analysis of the SFD-Sliding Bearing Flexible Rotor System

2012 ◽  
Vol 472-475 ◽  
pp. 1460-1464
Author(s):  
Ji Yan Wang ◽  
Yu Cheng Zhao ◽  
Chao Wang
Keyword(s):  
Dynamic Response ◽  
Periodic Motion ◽  
Period Doubling ◽  
Rotor System ◽  
Flexible Rotor ◽  
Sliding Bearing ◽  
Runge Kutta Method ◽  
Design Variables ◽  
Design Cycle ◽  
Stable Periodic

The paper established the mechanical model of SFD-sliding bearing flexible rotor system, adopting Runge-Kutta method to solve nonlinear differential equation, thus acquiring the dynamic response and the unbalanced response curve. The study has shown: from stable periodic motion, the route of the flexible rotor system to go into chaos is: periodic motion—quasi-periodic motion—chaos—period doubling bifurcation—chaos. The paper analyzed the sensitivity of the first two critical speeds of flexible rotor system, offering design variables for optimization analysis, improving the efficiency of optimization and shortening the design cycle.

Sign in / Sign up

Export Citation Format

Share Document