Analysis of Kinematic Characteristics of Saanen Goat Spine under Multi-Slope

作者：Fu Zhang, Xiahua Cui, Shunqing Wang, Haoxuan Sun, Jiajia Wang, Xinyue Wang, Sanling Fu, Zhijun Guo · 发表于：Biomimetics · 年份：2022 · DOI：10.3390/biomimetics7040181 · 被引用次数：4 · 研究领域：Robotic Locomotion and Control、Veterinary Orthopedics and Neurology、Soil Mechanics and Vehicle Dynamics

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 v...