TY - GEN
T1 - Trajectory Planning for Bipedal Locomotion of a Duck-Inspired Robot
AU - Zhang, Shuhui
AU - Niu, Yan
AU - Xu, Yiran
AU - Lin, Xinru
AU - Guo, Shuxiang
AU - Shi, Liwei
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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.
AB - 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.
KW - Bionic motion trajectory planning
KW - Duck-inspired robot
KW - Motion characteristics analysis
UR - http://www.scopus.com/inward/record.url?scp=85203704401&partnerID=8YFLogxK
U2 - 10.1109/ICMA61710.2024.10632951
DO - 10.1109/ICMA61710.2024.10632951
M3 - Conference contribution
AN - SCOPUS:85203704401
T3 - 2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024
SP - 1795
EP - 1800
BT - 2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Mechatronics and Automation, ICMA 2024
Y2 - 4 August 2024 through 7 August 2024
ER -
