Biomimetic walkingmechanisms: Kinematic parameters of goatswalking on different slopes

摘要

In order to study bionic walking machinery, the uphill walking processes on different slopes (0°,10°, 20°, and 30°)were recordedby ahigh speedvideo system (VRI Phantom M110).Thekinematicsparameters of goat slope are analyzed using PCC and ORIGIN software. Goat's average speeddecreases with the increase in gradient. The average speed of goats on the 0° slope, 10° slope, 20°slope, and 30° slope are 1.72 m/s, 1.352 m/s, 0.742 m/s, and 0.609 m/s. In the Y axis direction, thevariation ranges from 0.1 m to 0.37 m. The left hind legs are basically the same as the feet of theright hind legs. In the Yaxis direction, the variation ranges from0.1mto 0.195 m. The length of thechange in the X axis is greater than the posterior foot. The range of hip joint angle changes is from46.1° to 135.5°.Theknee joint angle changes is from 87.9° to 179.8°.Thehip joint angleofhind legchanges from 115.3° to 170°. The knee joint angle of hind leg changes from 80.5° to 172.8°. Thepresent research can provide theoretical basis for the design of a biomimetic agriculturalwalkingmechanism.