基于多坡度运动的岩羊垂直地反力特征

Vertical ground reaction force characteristics of blue sheep based on different slopes walking

为了给具有优异攀爬性能的仿生四足机器人提供仿生蓝本,以岩羊为研究对象,利用内嵌压力板的可变坡度斜坡通道,测试其四肢垂直地反力在不同坡度上的变化规律.结果表明,岩羊在平地上行走时,前后肢左右两侧的垂直地反力峰值和垂直冲量完全对称,前肢对称指数分别为99.16%、99.62%,后肢对称指数分别为98.65%、99.42%.随着坡度的增加,岩羊调整四肢的垂直地反力分布以防止跛行,导致左右蹄的对称性指数出现波动.当岩羊在平地行走时,前肢比后肢承受更多的垂直地反力,后肢承受的垂直地反力随着坡度的增加逐渐增多.岩羊肢体左右侧的差异性指数随坡度的变化具有相似性,当坡度为0~35°时,岩羊肢体左右侧差异性指数的均值分别为1.298、1.3057、1.1744、1.22375、1.0175、0.8905、0.7778、0.7535.

Blue sheep was selected as the object to test the variation of its limbs vertical ground reaction force by variable slope channel with built-in pressure plate,in order to supply bionic prototype for quadruped robots with excellent climbing performance.Results showed that the peak vertical force and the vertical impulse on the left and right sides of the front and hind limbs were completely symmetrical when the sheep walking on the flat ground.The symmetry index of the front limbs was 99.16%and 99.62%respectively,and the symmetry index of the rear limbs was 98.65%and 99.42%respectively.Along with the increasing of slope angle,the blue sheep adjusted the vertical force distribution to prevent lameness,which caused fluctuations in the symmetry index of the left and right hoof.When walking on flat ground,the forelimbs of blue sheep showed higher vertical force than the rear limbs.With the increasing of slope,the vertical force borne by the rear limbs gradually increased.The difference index on the left and right sides of the blue sheep limb has a similar change pattern on different slopes.The mean difference indexes on the left and right limbs of the blue sheep from 0 to 35 degrees were 1.298,1.3057,1.1744,1.22375,1.0175,0.8905,0.7778 and 0.7535 respectively.