Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739473
Long Wen, J. Qian, Xiaowu Hu, Linyong Shen, Xi Wu, Changlin Yu
Patients with Parkinson's disease have symptom of walking disorders which can be alleviated by surgery. By evaluating gait kinematics, the effect of medical treatment can be quantitatively assessed. In this paper, a method using image markers based on rigid body was introduced to set markers on anatomy key points of human lower limbs, which efficiently reduced the measurement errors coming from the skin movement during motions. Eleven Parkinson's disease (PD) patients with subthalamic nucleus deep brain stimulation (STN-DBS) implantation and five non-diseased subjects participated in gait measurement experiments. They were divided into groups of three different status: DBS ON, DBS OFF and Controls, and the subjects' gaits were recorded by a motion capture instruments. By calculating the three-dimensional coordinates of image markers in several gait cycles, we obtained gait kinematics and spatiotemporal parameters, such as joints angles, stride interval, cadence, stride length, and stride velocity. The gait parameters of DBS ON, DBS OFF and Controls were compared in pairs by the One-way Analysis of Variance. We found that the joint angle rotation range, stride length and stride velocity of each group all show a significant difference between the diseased and non-diseased (p<;0.01), and that with patients' relief of symptoms, the value discrepancies of these parameters became more obvious (DBS OFF <; DBS ON <; Controls). Analysis based on experiments shows that the method proposed here is an effective way to measure gait parameters, which can be used in patients with Parkinson's disease for quantitative rehabilitation assessment.
帕金森氏症患者有行走障碍的症状，可通过手术缓解。通过对步态运动学的评估，可以定量评估医疗效果。本文提出了一种基于刚体的图像标记方法，在人体下肢解剖关键点上设置标记，有效地降低了运动过程中皮肤运动带来的测量误差。采用丘脑下核深部脑刺激(STN-DBS)植入的11例帕金森病患者和5例非帕金森病患者进行步态测量实验。受试者被分成三组:开启、关闭和控制，受试者的步态被动作捕捉仪器记录下来。通过计算多个步态周期图像标记点的三维坐标，得到关节角度、步幅间隔、步幅、步幅长度、步幅速度等步态运动学和时空参数。采用单因素方差分析对DBS ON、DBS OFF和对照组的步态参数进行两两比较。我们发现，各组关节角度旋转范围、步幅、步幅速度在患病组与非患病组之间均有显著差异(p<;0.01)，且随着患者症状的缓解，这些参数的数值差异更加明显(DBS OFF <;DBS on <;控制)。实验分析表明，本文提出的方法是一种有效的步态参数测量方法，可用于帕金森病患者的定量康复评估。
{"title":"Gait measurement and quantitative analysis in patients with Parkinson's disease for rehabilitation assessment","authors":"Long Wen, J. Qian, Xiaowu Hu, Linyong Shen, Xi Wu, Changlin Yu","doi":"10.1109/ROBIO.2013.6739473","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739473","url":null,"abstract":"Patients with Parkinson's disease have symptom of walking disorders which can be alleviated by surgery. By evaluating gait kinematics, the effect of medical treatment can be quantitatively assessed. In this paper, a method using image markers based on rigid body was introduced to set markers on anatomy key points of human lower limbs, which efficiently reduced the measurement errors coming from the skin movement during motions. Eleven Parkinson's disease (PD) patients with subthalamic nucleus deep brain stimulation (STN-DBS) implantation and five non-diseased subjects participated in gait measurement experiments. They were divided into groups of three different status: DBS ON, DBS OFF and Controls, and the subjects' gaits were recorded by a motion capture instruments. By calculating the three-dimensional coordinates of image markers in several gait cycles, we obtained gait kinematics and spatiotemporal parameters, such as joints angles, stride interval, cadence, stride length, and stride velocity. The gait parameters of DBS ON, DBS OFF and Controls were compared in pairs by the One-way Analysis of Variance. We found that the joint angle rotation range, stride length and stride velocity of each group all show a significant difference between the diseased and non-diseased (p<;0.01), and that with patients' relief of symptoms, the value discrepancies of these parameters became more obvious (DBS OFF <; DBS ON <; Controls). Analysis based on experiments shows that the method proposed here is an effective way to measure gait parameters, which can be used in patients with Parkinson's disease for quantitative rehabilitation assessment.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123026886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739566
Shuai Ren, Yueri Cai, S. Bi, Lige Zhang, Houxiang Zhang
Compared with Autonomous Underwater Vehicle driven by traditional screw propellers, robotic fish is characterized by some desired features as high maneuverability and low noise. The research on bionic robotic fish which is propelled by paired pectoral fins has been gradually becoming hotspot in the field of biomimetics and robotics. Based on the research of cownose ray, the profile curve of pectoral fins for the kinematic analysis is established in this paper. We present that the dynamic foil deformation is composed of spanwise flapping and chordwise flexion. A novel bionic fish, Cownose Ray V, with multi-propulsion sources used in pectoral fins is designed, including the mechanical structure and the electronic control system. A towing platform is developed in order to test the propulsion performance of Cownose Ray V. According to the experimental results, the deformation and motion of pectoral fins obtained from Cownose Ray V imitate that of its natural sample to a great extent, which indicates that it can reach the desired propulsion performance.
{"title":"Kinematic analysis and design of a robotic fish using flapping and flexional pectoral fins for propulsion","authors":"Shuai Ren, Yueri Cai, S. Bi, Lige Zhang, Houxiang Zhang","doi":"10.1109/ROBIO.2013.6739566","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739566","url":null,"abstract":"Compared with Autonomous Underwater Vehicle driven by traditional screw propellers, robotic fish is characterized by some desired features as high maneuverability and low noise. The research on bionic robotic fish which is propelled by paired pectoral fins has been gradually becoming hotspot in the field of biomimetics and robotics. Based on the research of cownose ray, the profile curve of pectoral fins for the kinematic analysis is established in this paper. We present that the dynamic foil deformation is composed of spanwise flapping and chordwise flexion. A novel bionic fish, Cownose Ray V, with multi-propulsion sources used in pectoral fins is designed, including the mechanical structure and the electronic control system. A towing platform is developed in order to test the propulsion performance of Cownose Ray V. According to the experimental results, the deformation and motion of pectoral fins obtained from Cownose Ray V imitate that of its natural sample to a great extent, which indicates that it can reach the desired propulsion performance.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123123031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739828
Hong Liu, Zhijun Zhao, Jingdong Zhao
Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape of the anchor tip are analyzed quantitatively, and then pyrotechnical and conic anchor tip is selected for the anchoring system. Finally, anchoring system is tested by penetrating in soil and sand media.
{"title":"Preliminary anchoring technology for landing on the asteroid","authors":"Hong Liu, Zhijun Zhao, Jingdong Zhao","doi":"10.1109/ROBIO.2013.6739828","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739828","url":null,"abstract":"Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape of the anchor tip are analyzed quantitatively, and then pyrotechnical and conic anchor tip is selected for the anchoring system. Finally, anchoring system is tested by penetrating in soil and sand media.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121054821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739718
Danghui Liu, Jianhua Lin, Yunxia Yin
A monocular vision measurement system was designed in an industry application. In order to reduce the monocular vision measurement error caused by target's deviation from the camera optical axis, camera lens distortion and the platform not ideally vertical to the camera optical axis, an error compensation model was proposed to improve the measurement precision. Experimental results showed that the measurement error was significantly reduced, and the measurement accuracy can reach to within 1 mm even if the distance between the measured target and the camera is about 3 meter.
{"title":"Error compensation model for monocular vision measurement","authors":"Danghui Liu, Jianhua Lin, Yunxia Yin","doi":"10.1109/ROBIO.2013.6739718","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739718","url":null,"abstract":"A monocular vision measurement system was designed in an industry application. In order to reduce the monocular vision measurement error caused by target's deviation from the camera optical axis, camera lens distortion and the platform not ideally vertical to the camera optical axis, an error compensation model was proposed to improve the measurement precision. Experimental results showed that the measurement error was significantly reduced, and the measurement accuracy can reach to within 1 mm even if the distance between the measured target and the camera is about 3 meter.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116127807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739541
X. Wu, X. Shao, Wei Wang
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.
{"title":"Gait planning of crossing planar obstacles for a quadruped robot","authors":"X. Wu, X. Shao, Wei Wang","doi":"10.1109/ROBIO.2013.6739541","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739541","url":null,"abstract":"Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116567974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739576
Yasser F. O. Mohammad, T. Nishida, A. Nakazawa
Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived pose of the agent it is imitating. This paper presents a general framework for solving this problem in closed form for the arms of a generalized humanoid robot of which most available humanoids are special cases. The paper also reports the evaluation of the proposed system for real and simulated robots.
{"title":"Arm pose copying for humanoid robots","authors":"Yasser F. O. Mohammad, T. Nishida, A. Nakazawa","doi":"10.1109/ROBIO.2013.6739576","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739576","url":null,"abstract":"Learning by imitation is becoming increasingly important for teaching humanoid robots new skills. The simplest form of imitation is behavior copying in which the robot is minimizing the difference between its perceived motion and that of the imitated agent. One problem that must be solved even in this simplest of all imitation tasks is calculating the learner's pose corresponding to the perceived pose of the agent it is imitating. This paper presents a general framework for solving this problem in closed form for the arms of a generalized humanoid robot of which most available humanoids are special cases. The paper also reports the evaluation of the proposed system for real and simulated robots.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124905579","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739502
Jie Song, Ming Liu
Localization is one of the fundamental problems for mobile robots. Hence, there are several related works carried out for both metric and topological localization. In this paper, we present a lightweight technique for on-line robot topological localization in a known indoor environment. This approach is based on the Generalized Voronoi Diagram (GVD). The core task is to build local GVD to match against the global GVD using adaptive descriptors. We propose and evaluate a concise descriptor based on geometric constraints around meeting points on GVD, while adopting Hidden Markov Model (HMM) for inference. Tests on real maps extracted from typical structured environment using range sensor are presented. The results show that the robot can be efficiently localized with minor computational cost based on sparse measurements.
{"title":"A Hidden Markov Model approach for Voronoi localization","authors":"Jie Song, Ming Liu","doi":"10.1109/ROBIO.2013.6739502","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739502","url":null,"abstract":"Localization is one of the fundamental problems for mobile robots. Hence, there are several related works carried out for both metric and topological localization. In this paper, we present a lightweight technique for on-line robot topological localization in a known indoor environment. This approach is based on the Generalized Voronoi Diagram (GVD). The core task is to build local GVD to match against the global GVD using adaptive descriptors. We propose and evaluate a concise descriptor based on geometric constraints around meeting points on GVD, while adopting Hidden Markov Model (HMM) for inference. Tests on real maps extracted from typical structured environment using range sensor are presented. The results show that the robot can be efficiently localized with minor computational cost based on sparse measurements.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122466838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739815
Liandong Zhang, Changjiu Zhou
The state-of-the-art Kuka youBot is an open-source robot platform. In order to improve youBot arm manipulation performance, a novel robotic trajectory planning method based on geodesics is used for Kuka youBot arm shortest path trajectory planning in this paper. Geodesic is the necessary condition of the shortest length between two points on the Riemannian surface in which the covariant derivative of the geodesic's tangent vector is zero. The Riemannian metric is constructed according to the distance metric by arc length of the youBot arm trajectory to achieve shortest path. Once the Riemannian metric is obtained, the corresponding Riemannian surface is solely determined. Then the geodesic equations on this surface can be determined and calculated. For the given initial conditions of the trajectory, the geodesic equations can be solved and the results are the optimal trajectory of the youBot arm in the joint space for the given metric. The planned trajectories in the joint space can also be mapped into the workspace. A simple trajectory planning example on Kuka youBot arm from camera pose ready point to object grasping point is given to demonstrate the feasibility of the proposed approach.
{"title":"Kuka youBot arm shortest path planning based on geodesics","authors":"Liandong Zhang, Changjiu Zhou","doi":"10.1109/ROBIO.2013.6739815","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739815","url":null,"abstract":"The state-of-the-art Kuka youBot is an open-source robot platform. In order to improve youBot arm manipulation performance, a novel robotic trajectory planning method based on geodesics is used for Kuka youBot arm shortest path trajectory planning in this paper. Geodesic is the necessary condition of the shortest length between two points on the Riemannian surface in which the covariant derivative of the geodesic's tangent vector is zero. The Riemannian metric is constructed according to the distance metric by arc length of the youBot arm trajectory to achieve shortest path. Once the Riemannian metric is obtained, the corresponding Riemannian surface is solely determined. Then the geodesic equations on this surface can be determined and calculated. For the given initial conditions of the trajectory, the geodesic equations can be solved and the results are the optimal trajectory of the youBot arm in the joint space for the given metric. The planned trajectories in the joint space can also be mapped into the workspace. A simple trajectory planning example on Kuka youBot arm from camera pose ready point to object grasping point is given to demonstrate the feasibility of the proposed approach.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122607410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739429
Zhijun Li, Shuangshuang Lei, C. Su, Guanglin Li
Brain-computer interface (BCI) controlled wheelchair robots can serve as powerful aids for severely disabled people in their daily life, especially to help them move voluntarily. In order to better understand human “thought”, owing to the development of the hybrid brain/muscle interface technique, in this paper, we present a real-time hybrid brain/muscle interface to control a wheelchair directly to keep the disables recovering several motion capabilities by using noninvasive motor imagery Electroencephalography (EEG) and Electromyography (EMG). The EMG and EEG signals from the users are extracted to control the motion of an intelligent wheelchair. Both signals processing consists of off-line training, online control evaluation, and real-time control. An algorithm called the common spatial patterns (CSP) is used in this human-robot system to extract the most discriminative spatial patterns pairs as features. The extensive experiments were conducted on the developed human-wheelchair systems to verify the proposed approaches.
{"title":"Hybrid brain/muscle-actuated control of an intelligent wheelchair","authors":"Zhijun Li, Shuangshuang Lei, C. Su, Guanglin Li","doi":"10.1109/ROBIO.2013.6739429","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739429","url":null,"abstract":"Brain-computer interface (BCI) controlled wheelchair robots can serve as powerful aids for severely disabled people in their daily life, especially to help them move voluntarily. In order to better understand human “thought”, owing to the development of the hybrid brain/muscle interface technique, in this paper, we present a real-time hybrid brain/muscle interface to control a wheelchair directly to keep the disables recovering several motion capabilities by using noninvasive motor imagery Electroencephalography (EEG) and Electromyography (EMG). The EMG and EEG signals from the users are extracted to control the motion of an intelligent wheelchair. Both signals processing consists of off-line training, online control evaluation, and real-time control. An algorithm called the common spatial patterns (CSP) is used in this human-robot system to extract the most discriminative spatial patterns pairs as features. The extensive experiments were conducted on the developed human-wheelchair systems to verify the proposed approaches.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122861849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ROBIO.2013.6739726
Usama Bin Sikandar, Abubakr Muhammad
In this paper, we present a biomechanical model capable of generating six-DoF trajectories of a swimming dolphin. Our model attempts to closely emulate an actual surfacing and diving dolphin. The degree of biomechanical complexity of our model stands as a reasonable compromise between a complicated flexible multi-link body and an overly-simplified pointmass. We constructed our model through analyzing previously reported results and statistics on hydrodynamics, kinematics, maneuverability and propulsive efficiency of bottlenose dolphins observed during their surface-and-dive, porpoising and foraging behaviors. The results of our model's computer simulations match the previous reports on the dolphins' buoyancy, depth profiles, and speeds during ascent, descent, and porpoising activities.
{"title":"Modeling and simulation of surface-and-dive behavior of a bottlenose dolphin","authors":"Usama Bin Sikandar, Abubakr Muhammad","doi":"10.1109/ROBIO.2013.6739726","DOIUrl":"https://doi.org/10.1109/ROBIO.2013.6739726","url":null,"abstract":"In this paper, we present a biomechanical model capable of generating six-DoF trajectories of a swimming dolphin. Our model attempts to closely emulate an actual surfacing and diving dolphin. The degree of biomechanical complexity of our model stands as a reasonable compromise between a complicated flexible multi-link body and an overly-simplified pointmass. We constructed our model through analyzing previously reported results and statistics on hydrodynamics, kinematics, maneuverability and propulsive efficiency of bottlenose dolphins observed during their surface-and-dive, porpoising and foraging behaviors. The results of our model's computer simulations match the previous reports on the dolphins' buoyancy, depth profiles, and speeds during ascent, descent, and porpoising activities.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131386826","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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