Skip to main content
Erschienen in:
Buchtitelbild

2016 | OriginalPaper | Buchkapitel

The Natural Bipeds, Birds and Humans: An Inspiration for Bipedal Robots

verfasst von : Anick Abourachid, Vincent Hugel

Erschienen in: Biomimetic and Biohybrid Systems

Verlag: Springer International Publishing

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Despite many studies, the locomotion of bipedal legged robots is still not perfect. All the current robots are based on a humanoid model, which is not the unique one in Nature. In this paper we compare the natural bipedies in order to explore new tracks to improve robotic bipedal locomotion. This study starts with a short review of the historical bases of the biological bipedies to explain the differences between the structures of the human and bird bodies. The observations on the kinematics of bird walking describe a modular system that can be reproduced in robotics to take advantage of the bird leg versatility. For comparison purposes, a bird model is scaled up to have the same mass and the same height of the center of mass as a humanoid model. Simulation results show that the bird model can execute larger strides and stay on course, compared with the humanoid model. In addition the results confirm the functional decomposition of the bird system into the trunk and the thighs for the one part, and the distal part of the leg for the other part.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Hope, S.: The Mesozoic radiation of Neornithes. In: Chiappe, L.M., Witmer, L.M. (eds.) Mesozoic Birds, Above the Head of Dinosaurs, pp. 339–388. University of California Press, Berkeley (2002) Hope, S.: The Mesozoic radiation of Neornithes. In: Chiappe, L.M., Witmer, L.M. (eds.) Mesozoic Birds, Above the Head of Dinosaurs, pp. 339–388. University of California Press, Berkeley (2002)
3.
Zurück zum Zitat Gatesy, S.M., Middleton, K.M.: Bipedalism, flight and the evolution of theropod locomotor diversity. J Vertebr. Paleontol. 17, 308–329 (1997)CrossRef Gatesy, S.M., Middleton, K.M.: Bipedalism, flight and the evolution of theropod locomotor diversity. J Vertebr. Paleontol. 17, 308–329 (1997)CrossRef
4.
Zurück zum Zitat Porter, A.M.W.: Modern human, early human and Neanderthal limb proportions. Int. J. Osteoarchaeology 9, 54–67 (1999)CrossRef Porter, A.M.W.: Modern human, early human and Neanderthal limb proportions. Int. J. Osteoarchaeology 9, 54–67 (1999)CrossRef
5.
Zurück zum Zitat Pontzer, H., Holloway 3rd, J.H., Raichlen, D.A., Lieberman, D.E.: Control and function of arm swing in human walking and running. J. Exp. Biol. 212, 523–534 (2009)CrossRef Pontzer, H., Holloway 3rd, J.H., Raichlen, D.A., Lieberman, D.E.: Control and function of arm swing in human walking and running. J. Exp. Biol. 212, 523–534 (2009)CrossRef
6.
Zurück zum Zitat Hayot, C.: 3D biomechanical analysis of the human walk: comparison of mechanical models. PhD thesis, Poitiers (in French), France (2010) Hayot, C.: 3D biomechanical analysis of the human walk: comparison of mechanical models. PhD thesis, Poitiers (in French), France (2010)
7.
Zurück zum Zitat Winter, D., Quanbury, A., Reimer, G.: Analysis of instantaneous energy of normal gait. J. Biomech. 9, 253–257 (1976)CrossRef Winter, D., Quanbury, A., Reimer, G.: Analysis of instantaneous energy of normal gait. J. Biomech. 9, 253–257 (1976)CrossRef
8.
Zurück zum Zitat Li, Y., Wang, W., Crompton, R.H., Gunther, M.M.: Free vertical moments and transverse forces in human walking and their role in relation to arm-swing. J. Exp. Biol. 204, 47–58 (2001) Li, Y., Wang, W., Crompton, R.H., Gunther, M.M.: Free vertical moments and transverse forces in human walking and their role in relation to arm-swing. J. Exp. Biol. 204, 47–58 (2001)
9.
Zurück zum Zitat Gatesy, S.M.: Guineafowl hind limb function. I cineradiographic analysis and speed effects. J. Morphol. 240, 115–125 (1999)CrossRef Gatesy, S.M.: Guineafowl hind limb function. I cineradiographic analysis and speed effects. J. Morphol. 240, 115–125 (1999)CrossRef
10.
Zurück zum Zitat Abourachid, A., Hackert, R., Herbin, M., Libourel, P.A., Lambert, F.O., Gioanni, H., Provini, P., Blazevic, P., Hugel, V.: Bird terrestrial locomotion as revealed by 3D kinematics. Zoology (Jena) 114, 360–368 (2011)CrossRef Abourachid, A., Hackert, R., Herbin, M., Libourel, P.A., Lambert, F.O., Gioanni, H., Provini, P., Blazevic, P., Hugel, V.: Bird terrestrial locomotion as revealed by 3D kinematics. Zoology (Jena) 114, 360–368 (2011)CrossRef
11.
Zurück zum Zitat Stoessel, A., Fischer, M.: Comparative intralimb coordination in avian bipedal locomotion. J. Exp. Biol. 215, 4055–4069 (2012)CrossRef Stoessel, A., Fischer, M.: Comparative intralimb coordination in avian bipedal locomotion. J. Exp. Biol. 215, 4055–4069 (2012)CrossRef
12.
Zurück zum Zitat Provini, P., Tobalske, B.W., Crandell, K.E., Abourachid, A.: Transition from leg to wing forces during take-off in birds. J. Exp. Biol. 215, 4115–4124 (2012)CrossRef Provini, P., Tobalske, B.W., Crandell, K.E., Abourachid, A.: Transition from leg to wing forces during take-off in birds. J. Exp. Biol. 215, 4115–4124 (2012)CrossRef
13.
Zurück zum Zitat Provini, P., Goupil, P., Hugel, V., Abourachid, A.: Walking, paddling, waddling: 3D kinematics of Anatidae locomotion (Callonetta leucophrys). J. Exp. Zool. 317, 275–282 (2012)CrossRef Provini, P., Goupil, P., Hugel, V., Abourachid, A.: Walking, paddling, waddling: 3D kinematics of Anatidae locomotion (Callonetta leucophrys). J. Exp. Zool. 317, 275–282 (2012)CrossRef
14.
Zurück zum Zitat Cavagna, G.A., Heglung, N.C., Taylor, R.: Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure. Am. J. Physiol. 2, 243–261 (1977) Cavagna, G.A., Heglung, N.C., Taylor, R.: Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure. Am. J. Physiol. 2, 243–261 (1977)
15.
Zurück zum Zitat Taylor, C.R., Heglund, N.C., Maloy, G.M.O.: Energetics and mechanics of terrestrial locomotion I Metabolic energy consumption as a function of speed and body size in birds and mammals. J. Exp. Biol. 97, 1–21 (1982) Taylor, C.R., Heglund, N.C., Maloy, G.M.O.: Energetics and mechanics of terrestrial locomotion I Metabolic energy consumption as a function of speed and body size in birds and mammals. J. Exp. Biol. 97, 1–21 (1982)
16.
Zurück zum Zitat Fedak, M.A., Heglund, N.C., Taylor, C.R.: Energetics and mechanics of terrestrial locomotion II kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals. J. Exp. Biol. 79, 23–40 (1982) Fedak, M.A., Heglund, N.C., Taylor, C.R.: Energetics and mechanics of terrestrial locomotion II kinetic energy changes of the limbs and body as a function of speed and body size in birds and mammals. J. Exp. Biol. 79, 23–40 (1982)
17.
Zurück zum Zitat Abourachid, A.: Mechanics of standing in birds: functional explanation of lamness problems in giant turkeys. Br. Poult. Sci. 34, 887–898 (1993)CrossRef Abourachid, A.: Mechanics of standing in birds: functional explanation of lamness problems in giant turkeys. Br. Poult. Sci. 34, 887–898 (1993)CrossRef
18.
Zurück zum Zitat Hugel, V., Hackert, R., Abourachid, A.: Kinematic modeling of bird locomotion from experimental data. IEEE Trans. Robot. 27(2), 185–200 (2011)CrossRef Hugel, V., Hackert, R., Abourachid, A.: Kinematic modeling of bird locomotion from experimental data. IEEE Trans. Robot. 27(2), 185–200 (2011)CrossRef
19.
Zurück zum Zitat Zorjan, M., Hugel, V.: Generalized humanoid leg inverse kinematics to deal with singularities. In: IEEE International Conference on Robotics and Automation, pp. 4791–4796 (2013) Zorjan, M., Hugel, V.: Generalized humanoid leg inverse kinematics to deal with singularities. In: IEEE International Conference on Robotics and Automation, pp. 4791–4796 (2013)
20.
Zurück zum Zitat Kajita, S.: Humanoid Robot. Ohmsha Ltd, 3–1 Kanda Nishikicho, Chiyodaku, Tokyo, Japan (2005) Kajita, S.: Humanoid Robot. Ohmsha Ltd, 3–1 Kanda Nishikicho, Chiyodaku, Tokyo, Japan (2005)
21.
Zurück zum Zitat Hugel, V., Jouandeau, N.: Walking patterns for real time path planning simulation of humanoids. In: IEEE RO-MAN, pp. 424–430 (2012) Hugel, V., Jouandeau, N.: Walking patterns for real time path planning simulation of humanoids. In: IEEE RO-MAN, pp. 424–430 (2012)
22.
Zurück zum Zitat Zorjan, M., Hugel, V., Blazevic, P., Borovac, B.: Influence of rotation of humanoid hip joint axes on joint power during locomotion. Adv. Robot. 29(11), 707–719 (2015)CrossRef Zorjan, M., Hugel, V., Blazevic, P., Borovac, B.: Influence of rotation of humanoid hip joint axes on joint power during locomotion. Adv. Robot. 29(11), 707–719 (2015)CrossRef
Metadaten
Titel
The Natural Bipeds, Birds and Humans: An Inspiration for Bipedal Robots
verfasst von
Anick Abourachid
Vincent Hugel
Copyright-Jahr
2016
DOI
https://doi.org/10.1007/978-3-319-42417-0_1