Bionic Control of Cheetah Bounding with a Segmented Spine
Identifieur interne : 004160 ( Ncbi/Merge ); précédent : 004159; suivant : 004161Bionic Control of Cheetah Bounding with a Segmented Spine
Auteurs : Chunlei Wang [République populaire de Chine] ; Shigang Wang [République populaire de Chine]Source :
- Applied Bionics and Biomechanics [ 1176-2322 ] ; 2016.
Abstract
A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah. In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides, the vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the information from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is realized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.
Url:
DOI: 10.1155/2016/5031586
PubMed: 27065749
PubMed Central: 4808829
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In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides, the vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the information from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is realized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Morton, S M" uniqKey="Morton S">S. M. Morton</name></author><author><name sortKey="Bastian, A J" uniqKey="Bastian A">A. J. Bastian</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="He, B" uniqKey="He B">B. He</name></author><author><name sortKey="Lu, Q" uniqKey="Lu Q">Q. Lu</name></author><author><name sortKey="Wang, Z" uniqKey="Wang Z">Z. Wang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Deliagina, T G" uniqKey="Deliagina T">T. G. Deliagina</name></author><author><name sortKey="Zelenin, P V" uniqKey="Zelenin P">P. V. Zelenin</name></author><author><name sortKey="Beloozerova, I N" uniqKey="Beloozerova I">I. N. Beloozerova</name></author><author><name sortKey="Orlovsky, G N" uniqKey="Orlovsky G">G. N. Orlovsky</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Lopez, C" uniqKey="Lopez C">C. Lopez</name></author><author><name sortKey="Blanke, O" uniqKey="Blanke O">O. Blanke</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Iles, J F" uniqKey="Iles J">J. F. Iles</name></author><author><name sortKey="Baderin, R" uniqKey="Baderin R">R. Baderin</name></author><author><name sortKey="Tanner, R" uniqKey="Tanner R">R. Tanner</name></author><author><name sortKey="Simon, A" uniqKey="Simon A">A. Simon</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Berthoz, A" uniqKey="Berthoz A">A. Berthoz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Van Beers, R J" uniqKey="Van Beers R">R. J. van Beers</name></author><author><name sortKey="Sittig, A C" uniqKey="Sittig A">A. C. 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Saibene</name></author></analytic></biblStruct></listBibl></div1></back></TEI><double pmid="27065749"><pmc><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Bionic Control of Cheetah Bounding with a Segmented Spine</title><author><name sortKey="Wang, Chunlei" sort="Wang, Chunlei" uniqKey="Wang C" first="Chunlei" last="Wang">Chunlei Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Wang, Shigang" sort="Wang, Shigang" uniqKey="Wang S" first="Shigang" last="Wang">Shigang Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">27065749</idno><idno type="pmc">4808829</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4808829</idno><idno type="RBID">PMC:4808829</idno><idno type="doi">10.1155/2016/5031586</idno><date when="2016">2016</date><idno type="wicri:Area/Pmc/Corpus">000460</idno><idno type="wicri:Area/Pmc/Curation">000460</idno><idno type="wicri:Area/Pmc/Checkpoint">000156</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Bionic Control of Cheetah Bounding with a Segmented Spine</title><author><name sortKey="Wang, Chunlei" sort="Wang, Chunlei" uniqKey="Wang C" first="Chunlei" last="Wang">Chunlei Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Wang, Shigang" sort="Wang, Shigang" uniqKey="Wang S" first="Shigang" last="Wang">Shigang Wang</name><affiliation wicri:level="1"><nlm:aff id="I1">The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China</nlm:aff><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author></analytic><series><title level="j">Applied Bionics and Biomechanics</title><idno type="ISSN">1176-2322</idno><idno type="eISSN">1754-2103</idno><imprint><date when="2016">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah. In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides, the vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the information from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is realized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Morton, S M" uniqKey="Morton S">S. M. Morton</name></author><author><name sortKey="Bastian, A J" uniqKey="Bastian A">A. J. Bastian</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="He, B" uniqKey="He B">B. He</name></author><author><name sortKey="Lu, Q" uniqKey="Lu Q">Q. Lu</name></author><author><name sortKey="Wang, Z" uniqKey="Wang Z">Z. Wang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Deliagina, T G" uniqKey="Deliagina T">T. G. Deliagina</name></author><author><name sortKey="Zelenin, P V" uniqKey="Zelenin P">P. V. Zelenin</name></author><author><name sortKey="Beloozerova, I N" uniqKey="Beloozerova I">I. N. 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Saibene</name></author></analytic></biblStruct></listBibl></div1></back></TEI></pmc><pubmed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Bionic Control of Cheetah Bounding with a Segmented Spine.</title><author><name sortKey="Wang, Chunlei" sort="Wang, Chunlei" uniqKey="Wang C" first="Chunlei" last="Wang">Chunlei Wang</name><affiliation wicri:level="1"><nlm:affiliation>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Wang, Shigang" sort="Wang, Shigang" uniqKey="Wang S" first="Shigang" last="Wang">Shigang Wang</name><affiliation wicri:level="1"><nlm:affiliation>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2016">2016</date><idno type="doi">10.1155/2016/5031586</idno><idno type="RBID">pubmed:27065749</idno><idno type="pmid">27065749</idno><idno type="wicri:Area/PubMed/Corpus">000042</idno><idno type="wicri:Area/PubMed/Curation">000042</idno><idno type="wicri:Area/PubMed/Checkpoint">000140</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Bionic Control of Cheetah Bounding with a Segmented Spine.</title><author><name sortKey="Wang, Chunlei" sort="Wang, Chunlei" uniqKey="Wang C" first="Chunlei" last="Wang">Chunlei Wang</name><affiliation wicri:level="1"><nlm:affiliation>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author><author><name sortKey="Wang, Shigang" sort="Wang, Shigang" uniqKey="Wang S" first="Shigang" last="Wang">Shigang Wang</name><affiliation wicri:level="1"><nlm:affiliation>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China.</nlm:affiliation><country xml:lang="fr">République populaire de Chine</country><wicri:regionArea>The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240</wicri:regionArea><wicri:noRegion>Shanghai 200240</wicri:noRegion></affiliation></author></analytic><series><title level="j">Applied bionics and biomechanics</title><idno type="ISSN">1176-2322</idno><imprint><date when="2016" type="published">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A cheetah model is built to mimic real cheetah and its mechanical and dimensional parameters are derived from the real cheetah. In particular, two joints in spine and four joints in a leg are used to realize the motion of segmented spine and segmented legs which are the key properties of the cheetah bounding. For actuating and stabilizing the bounding gait of cheetah, we present a bioinspired controller based on the state-machine. The controller mainly mimics the function of the cerebellum to plan the locomotion and keep the body balance. The haptic sensor and proprioception system are used to detect the trigger of the phase transition. Besides, the vestibular modulation could perceive the pitching angle of the trunk. At last, the cerebellum acts as the CPU to operate the information from the biological sensors. In addition, the calculated results are transmitted to the low-level controller to actuate and stabilize the cheetah bounding. Moreover, the delay feedback control method is employed to plan the motion of the leg joints to stabilize the pitching motion of trunk with the stability criterion. Finally, the cyclic cheetah bounding with biological properties is realized. Meanwhile, the stability and dynamic properties of the cheetah bounding gait are analyzed elaborately.</div></front></TEI></pubmed></double></record>Pour manipuler ce document sous Unix (Dilib)
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