Biomechanical Modeling and Simulation of the Spider Crab (Maja brachydactyla)

摘要

One line of research and development in robotics receiving increasing attention in recent years is the development of biologically inspired walking robots. The purpose is to gain knowledge of biological beings and apply that knowledge to implement the same methods of locomotion (or at least use the biological inspiration) on the machines we build. It is believed that this way it is possible to develop machines with capabilities similar to those of biological beings in terms of locomotion skills and energy efficiency. One way to better understand the functioning of these systems, without the need to develop prototypes with long and costly development, is to use simulation models. Based on these ideas, this work concerns the biomechanical study of the spider crab, using the SimMechanics toolbox of Matlab/Simulink. This paper describes the anatomy and locomotion of the spider crab, its modeling and control and the locomotion simulation of a crab within the SimMechanics environment.