Abstract：
Inching-locomotion caterpillars (ILAR) show impressive environmental adaptation, having high dexterity and flexibility. To design robots that mimic these abilities, a novel bioinspired robotic design (BIROD) method is presented. The method is composed by an algorithm for geometrical kinematic analysis (GEKINS) to standardize the proportional dimensions according to the insect\'s anatomy and obtain the kinematic chains. The approach is experimentally applied to analyze the locomotion and kinematic chain of these specimens:Geometridae-two pair of prolegs (represents 35 000 species) andPlusiinae-three pair of prolegs (represents 400 species). The obtained data indicate that the application of the proposed method permits to locate the attachment mechanisms, joints, links, and to calculate angular displacement, angular average velocity, number of degrees of freedom, and thus the kinematic chain.Geometridaein contrast toPlusiinae, shows a longer walk-stride length, a lower number of single-rotational joints in 2D (3 DOF versus 4 DOF), and a lower number of dual-rotational joints in 3D (6 DOF versus 8 DOF). The application of BIROD and GEKINS provides the forward kinematics for 35 400 ILAR species and are expected to be useful as a preliminary phase for the design of bio-inspired arthropod robots.
摘要：
运动的毛毛虫（ILAR）表现出令人印象深刻的环境适应性，具有很高的灵活性和灵活性。为了设计模仿这些能力的机器人，提出了一种新颖的生物启发机器人设计(BIROD)方法。该方法由几何运动学分析（GEKINS）算法组成，以根据昆虫的解剖结构标准化比例尺寸并获得运动学链。该方法在实验上用于分析这些标本的运动和运动学链：Geometridae-2对前肢（代表35,000种）和Plusiinae-3对前肢（代表400种）。获得的数据表明，所提出的方法的应用允许定位连接机制，接头,链接,并计算角位移，角平均速度,自由度的数量，因此运动链。与冥王星相反的地理科，显示较长的步行步距(WSL)，二维单旋转关节数量较少(3自由度与4自由度),3-D中的双旋转关节数量较少（6自由度与8自由度）。BIROD和GEKINS的应用为35,400种ILAR物种提供了正向运动学，有望作为设计生物启发的节肢动物机器人的初步阶段。
