Publication Type: | Journal Article |
Year of Publication: | 2021 |
Autoren: | J. M. Guaderrama, Martínez-García E. A. |
Journal: | Journal of Micro-Bio Robotics |
Volume: | 17 |
Problem: | 1 |
Pagination: | 1-23 |
Date Published: | 09/03/2021 |
ISSN: | 2194-6418 |
Schlüsselwörter: | 3D modeling, Biorobot, Centipede, Limb, Musculoskeletal dexterity, Underactuation |
Zusammenfassung: | In this research, a specimen of arthropod, infraspecies Cormocephalus calcaratus (centipede) is the matter of study for modeling its trunk-limb biomechanics. The endoskeletal system was built to model and approach its passive dynamics motion. The limb’s musculoskeletal system was digitally ’sculpted’ in three-dimension using the planar taxonomic sagittal, ventral and transventral views as metrical references, constrained in scale and geometry. The endoskeleton was modeled by an equivalent network of spring-mass-damper muscles with five joints controlled by two input muscles to manipulate the limb’s tip. The kinematic position equations with their higher-order derivatives and the inner muscles dynamics were deduced for a Newton-based dynamic controller to resemble scramble up motion. Simulations produced realistic controlled motions with expected limb’s dexterity underactuation. |
URL: | http://link.springer.com/10.1007/s12213-021-00141-y |
DOI: | 10.1007/s12213-021-00141-y |
Short Title: | J. Micro-Bio Robot. |
Citation Key: | 1088 |
Refereed Designation: | Refereed |