Trotting Gait Generation Based on the Lizard Biometric Data

도마뱀 생체 데이터를 이용한 속보 걸음새 생성

  • Kim, Chang Hoi (Nuclear Technology convergence Division, Korea Atomic Energy Research Institute) ;
  • Shin, Ho Cheol (Nuclear Technology convergence Division, Korea Atomic Energy Research Institute) ;
  • Lee, Heung Ho (Electrical Engineering Division, Chungnam National University)
  • Received : 2013.08.26
  • Accepted : 2013.09.13
  • Published : 2013.10.01


A variety of studies on imitating the skeletal structure and the gait of legged animals have been done in order to develop walking robots which have an ability to adapt to atypical environments. In this paper, we analyzed the gait of a Bearded dragon lizard using the motion capture system, proposed a calibration scheme of the motion data and generated the trotting gait of a lizard based on the calibrated data. Also, we constructed the dynamic model based on the biometric data of a Bearded dragon lizard and applied the trotting gait of the lizard to the dynamic model. We verified the validity of the gait with the commercial dynamic simulation software.


Supported by : 기초기술연구회


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