Research on the movement pattern and kinematic model of the hindlegs of the water boatman.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2025-01-06 DOI:10.1088/1748-3190/ada1b9

Shuai Shi, Fuchun Yang, Shulong Fan, Zhuang Xu

引用次数: 0

Abstract

The special hindleg structure and swimming setae of a water boatman give it a high degree of maneuverability, which plays an important role in swimming. This paper used a high-speed photography platform to extract key points from videos, obtaining the forward and turning movement patterns of the water boatman's hindlegs, as well as the transformation patterns of the setae. A Fourier series was used to establish the movement models of each hindleg joint, and a kinematic model of the hindlegs was established to study the continuous movement characteristics of the hindlegs. This paper provides basic data and theoretical support for the design of underwater bio-inspired robots.

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水上划艇人后腿运动方式及运动学模型研究。

水艇特殊的后腿结构和游泳刚毛使其具有高度的机动性，在游泳中起着重要的作用。本文利用高速摄影平台从视频中提取关键点，得到了划艇人后腿前进和转身的运动模式，以及刚毛的变换模式。采用傅立叶级数建立了后腿各关节的运动模型，建立了后腿的运动学模型，研究了后腿的连续运动特性。本文为水下仿生机器人的设计提供了基础数据和理论支持。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.