Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions
Although the hydraulic transmission system in spider legs is well known, the spider’s mechanism of locomotion during different terrain conditions still need to be explored further. In this study, spider locomotion was observed in detail on three pavement test platforms: horizontal hard pavement, hor...
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2019/4617212 |
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| author | Xin Hao Wenxing Ma Chunbao Liu Yilei Li Zhihui Qian Luquan Ren Lei Ren |
| author_facet | Xin Hao Wenxing Ma Chunbao Liu Yilei Li Zhihui Qian Luquan Ren Lei Ren |
| author_sort | Xin Hao |
| collection | DOAJ |
| description | Although the hydraulic transmission system in spider legs is well known, the spider’s mechanism of locomotion during different terrain conditions still need to be explored further. In this study, spider locomotion was observed in detail on three pavement test platforms: horizontal hard pavement, horizontal soft pavement, and sloped soft pavement. The movement characteristics and joint kinematics of Grammostola rosea legs were captured by high-speed cameras and Simi Motion 3D tracking software. These observations showed that the gait pattern was basically consistent with an alternating tetrapod gait; however, the pattern observed on the sloped soft pavement was slightly different from that of the two horizontal pavements. In particular, the duty factor of the spiders was 0.683 when walking on the horizontal hard pavement, 0.668 on the horizontal soft pavement, and 0.630 on the sloped soft pavement. The duty factor was greater than 60% in all three pavement environments, which was minimal when walking on the sloped soft pavement. This pattern showed that spiders might have superior stability when walking, but their stability decreased in the sloped soft pavement environment. The ranges of joint angles through the spiders’ gait cycles in every pavement environment were also analysed and compared. The findings showed that the hydraulically driven femur-patella and tibia-metatarsal joint angles varied widely, which confirmed that hydraulically driven joints had major functions and obvious effects on the walking process. The kinematic patterns identified in this study provide improved understanding of the hydraulic transmission mechanisms, the factors that affect motion stability, and the design of biomimetic systems. |
| format | Article |
| id | doaj-art-c445ef4ac99741b9b6ef21ee46940995 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
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| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-c445ef4ac99741b9b6ef21ee469409952025-02-03T01:06:20ZengWileyApplied Bionics and Biomechanics1176-23221754-21032019-01-01201910.1155/2019/46172124617212Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground ConditionsXin Hao0Wenxing Ma1Chunbao Liu2Yilei Li3Zhihui Qian4Luquan Ren5Lei Ren6School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, ChinaSchool of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, ChinaKey Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, ChinaKey Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, ChinaKey Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, ChinaKey Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, ChinaAlthough the hydraulic transmission system in spider legs is well known, the spider’s mechanism of locomotion during different terrain conditions still need to be explored further. In this study, spider locomotion was observed in detail on three pavement test platforms: horizontal hard pavement, horizontal soft pavement, and sloped soft pavement. The movement characteristics and joint kinematics of Grammostola rosea legs were captured by high-speed cameras and Simi Motion 3D tracking software. These observations showed that the gait pattern was basically consistent with an alternating tetrapod gait; however, the pattern observed on the sloped soft pavement was slightly different from that of the two horizontal pavements. In particular, the duty factor of the spiders was 0.683 when walking on the horizontal hard pavement, 0.668 on the horizontal soft pavement, and 0.630 on the sloped soft pavement. The duty factor was greater than 60% in all three pavement environments, which was minimal when walking on the sloped soft pavement. This pattern showed that spiders might have superior stability when walking, but their stability decreased in the sloped soft pavement environment. The ranges of joint angles through the spiders’ gait cycles in every pavement environment were also analysed and compared. The findings showed that the hydraulically driven femur-patella and tibia-metatarsal joint angles varied widely, which confirmed that hydraulically driven joints had major functions and obvious effects on the walking process. The kinematic patterns identified in this study provide improved understanding of the hydraulic transmission mechanisms, the factors that affect motion stability, and the design of biomimetic systems.http://dx.doi.org/10.1155/2019/4617212 |
| spellingShingle | Xin Hao Wenxing Ma Chunbao Liu Yilei Li Zhihui Qian Luquan Ren Lei Ren Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions Applied Bionics and Biomechanics |
| title | Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions |
| title_full | Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions |
| title_fullStr | Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions |
| title_full_unstemmed | Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions |
| title_short | Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions |
| title_sort | analysis of spiders joint kinematics and driving modes under different ground conditions |
| url | http://dx.doi.org/10.1155/2019/4617212 |
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