A new method for measuring quadruped animal motion parameters based on inertial motion capturing system

摘要

While exploring the environment and terrain deeper and deeper, foot robots get more and more applications in field of exploration, polar expedition and aerospace due to coping with various complex terrain adaptability, obstacle crossing ability, and perfect flexibility. Since quadruped robots have better stability and load capacity, they were the most widely used among varies foot robots. During the research and development of robots, the quadruped robots appear poor balance, load capacity lower, energy consumption high, sailing time shorter and other issues. We use bionics to get the quadruped motion data measured by inertial motion capturing system, and analyze different quadruped gait motion data, and identify the principles of animal locomotion, and extract the bionics advantages to apply quadruped robots development. It can greatly improve the ability of balance, load capacity and energy efficiency of the quadruped robots.