Dynamical analysis of simple models with flexible body for bounding in quadrupeds

Tomoya Kamimura; Yuichi Ambe; Shinya Aoi; Kazuo Tsuchiya; Fumitoshi Matsuno

doi:10.1109/SMC.2016.7844441

Dynamical analysis of simple models with flexible body for bounding in quadrupeds

Tomoya Kamimura, Yuichi Ambe, Shinya Aoi, Kazuo Tsuchiya, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.

Original language	English
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1449-1454
Number of pages	6
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844441
Publication status	Published - 2017 Feb 6
Externally published	Yes
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 2016 Oct 9 → 2016 Oct 12

Publication series

Name	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Other

Other	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	16/10/9 → 16/10/12

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Artificial Intelligence
Control and Optimization
Human-Computer Interaction

Access to Document

10.1109/SMC.2016.7844441

Cite this

Kamimura, T., Ambe, Y., Aoi, S., Tsuchiya, K., & Matsuno, F. (2017). Dynamical analysis of simple models with flexible body for bounding in quadrupeds. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 1449-1454). [7844441] (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844441

Dynamical analysis of simple models with flexible body for bounding in quadrupeds. / Kamimura, Tomoya; Ambe, Yuichi; Aoi, Shinya et al.

2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1449-1454 7844441 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kamimura, T, Ambe, Y, Aoi, S, Tsuchiya, K & Matsuno, F 2017, Dynamical analysis of simple models with flexible body for bounding in quadrupeds. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844441, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1449-1454, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 16/10/9. https://doi.org/10.1109/SMC.2016.7844441

Kamimura T, Ambe Y, Aoi S, Tsuchiya K, Matsuno F. Dynamical analysis of simple models with flexible body for bounding in quadrupeds. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1449-1454. 7844441. (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). doi: 10.1109/SMC.2016.7844441

Kamimura, Tomoya ; Ambe, Yuichi ; Aoi, Shinya et al. / Dynamical analysis of simple models with flexible body for bounding in quadrupeds. 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1449-1454 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

@inproceedings{5a4abb3641a6496795119517e8503423,

title = "Dynamical analysis of simple models with flexible body for bounding in quadrupeds",

abstract = "The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.",

author = "Tomoya Kamimura and Yuichi Ambe and Shinya Aoi and Kazuo Tsuchiya and Fumitoshi Matsuno",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE. Copyright: Copyright 2017 Elsevier B.V., All rights reserved.; 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

year = "2017",

month = feb,

day = "6",

doi = "10.1109/SMC.2016.7844441",

language = "English",

series = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1449--1454",

booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

}

TY - GEN

T1 - Dynamical analysis of simple models with flexible body for bounding in quadrupeds

AU - Kamimura, Tomoya

AU - Ambe, Yuichi

AU - Aoi, Shinya

AU - Tsuchiya, Kazuo

AU - Matsuno, Fumitoshi

PY - 2017/2/6

Y1 - 2017/2/6

N2 - The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.

AB - The observation of quadruped animals has suggested that the body flexibility is important for the bounding gait. In particular, the body flexibility is assumed to be crucial for determining the ground reaction force (GRF). In this paper, we investigated the dynamic effect of the body flexibility on the GRF in quadruped bounding with simple physical models by focusing on the vertical motion. More specifically, we first showed that the body flexibility reduces the GRF using a simple two legged model in sagittal plane. Next, to clarify the GRF reduction mechanism, we further simplified the model, which has only one leg. This allowed us to analytically obtain periodic solutions. Based on the solutions, we investigated the mechanism that the body flexibility reduces the GRF during quadrupedal bounding.

UR - http://www.scopus.com/inward/record.url?scp=85015808628&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85015808628&partnerID=8YFLogxK

U2 - 10.1109/SMC.2016.7844441

DO - 10.1109/SMC.2016.7844441

M3 - Conference contribution

AN - SCOPUS:85015808628

T3 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

SP - 1449

EP - 1454

BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016

Y2 - 9 October 2016 through 12 October 2016

ER -

Dynamical analysis of simple models with flexible body for bounding in quadrupeds

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this