Trajectory Planning for Bipedal Locomotion of a Duck-Inspired Robot

Shuhui Zhang, Yan Niu, Yiran Xu, Xinru Lin, Shuxiang Guo, Liwei Shi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Nowadays, amphibious robots demonstrate significant potential in fields such as disaster relief and environmental monitoring. In response to these applications, this study plans the leg trajectory of a duck-inspired robot based on the motion trajectory and characteristics of real ducks, aiming to enhance the robot's adaptability and operational efficiency in complex aquatic and terrestrial environments. To design the duck-like gait, this paper analyzes motion videos of real ducks frame by frame. Using the DeepLabCut algorithm and geometric analysis, we identify key leg points. The joint angle change curve of the real duck and the spatial motion trajectory of the metatarsophalangeal joint are obtained by cubic spline interpolation. Finally, we use inverse kinematics to determine the robot's joint rotation angles, providing a reference for designing the duck-inspired robot's motion gait.

Original languageEnglish
Title of host publication2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1795-1800
Number of pages6
ISBN (Electronic)9798350388060
DOIs
Publication statusPublished - 2024
Event21st IEEE International Conference on Mechatronics and Automation, ICMA 2024 - Tianjin, China
Duration: 4 Aug 20247 Aug 2024

Publication series

Name2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024

Conference

Conference21st IEEE International Conference on Mechatronics and Automation, ICMA 2024
Country/TerritoryChina
CityTianjin
Period4/08/247/08/24

Keywords

  • Bionic motion trajectory planning
  • Duck-inspired robot
  • Motion characteristics analysis

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