Research On The Kinematic Characteristics And Motion Model Of German Shepherd Dog

The traditional terrain-machine will lose its mobility under complicated road condition. Compared with traditional machine, legged robot especially the bionic legged robot has relatively strong ground adaptability. Researchers focus on the quadruped robot in developing the bionics robot because quadruped have better carrying capacity and stability than biped, and also has the more simple configuration than hexapod and eight-legged animal. Research on the quadruped has not only learning value, but also more crucial realism significance and need.Research on the gait of the quadruped is the basic of the developing the bionics robot, Quadruped animals such as shepherd dog and goat can survive through complex and severe environment, and demonstrate an outstanding locomotion capability on extremely rough unstructured environment. They can adjust their gestures to ensure safe, stable, successful and efficient passing ability when the topography changes. Gait analysis on the quadruped animal-German Shepherd Dog can provide a bionic model for designing and manufacturing the robots with better stability and compliance. Besides it offers a bionic foundation for engineering exploration, exploring outer space, anti-terror work, military reconnaissance and ect. Gait analysis on the German Shepherd Dog based on the cinematic and kinetic data is useful for the free gait planning and controlling.This paper selected German Shepherd dog as the trial object, and analyzed its kinematics characteristics, dynamic stability based on the kinematics data, and then the kinematics and dynamic analyses of the model are conducted for designing the robots.The main research works and obtained conclusions of this dissertation are as follows:1. Kinematics data were collected and the anteroposterior sequence (APS) analysis was conducted. The kinematics data were collected using Vicon MX 3D motion capture system. The timing sequence analysis on common gaits of German Shepherd dog is presented with variables based on the timing sequence of quadruped's limbs movements. Time lags, reflecting temporal coordination between forelimbs (fore lag, F), hind limbs (hind lag, H) or pairs of limbs (pair lag; P), are calculated as a percentage of cycle duration. When the dog was walking, the F≈50%, H≈50%,50%