Phalangeal joints kinematics during ostrich (<i>Struthio camelus</i>) locomotion

Zhang, Rui; Ji, Qiaoli; Luo, Gang; Xue, Shuliang; Ma, Songsong; Li, Jianqiao; Ren, Lei

doi:10.7717/peerj.2857

Cited by 17 publications

(7 citation statements)

References 34 publications

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“…This analysis helps to identify where similar function is likely to be found among diverse animals. Although BirdBot's leg design is inspired by large ratite birds such as emus and ostriches, the structural elements are present to varying degrees among many birds (6,23,24,30,(61)(62)(63)(64)(65)(66)(67)(87)(88)(89). BirdBot is an abstracted and simplified model: Complex bone surface interactions are approximated as hinge joints, and sesamoid structures are approximated as constant radius cams.…”

Section: Discussionmentioning

confidence: 99%

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

et al. 2022

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Designers of legged robots are challenged with creating mechanisms that allow energy-efficient locomotion with robust and minimalistic control. Sources of high energy costs in legged robots include the rapid loading and high forces required to support the robot’s mass during stance and the rapid cycling of the leg’s state between stance and swing phases. Here, we demonstrate an avian-inspired robot leg design, BirdBot, that challenges the reliance on rapid feedback control for joint coordination and replaces active control with intrinsic, mechanical coupling, reminiscent of a self-engaging and disengaging clutch. A spring tendon network rapidly switches the leg’s slack segments into a loadable state at touchdown, distributes load among joints, enables rapid disengagement at toe-off through elastically stored energy, and coordinates swing leg flexion. A bistable joint mediates the spring tendon network’s disengagement at the end of stance, powered by stance phase leg angle progression. We show reduced knee-flexing torque to a 10th of what is required for a nonclutching, parallel-elastic leg design with the same kinematics, whereas spring-based compliance extends the leg in stance phase. These mechanisms enable bipedal locomotion with four robot actuators under feedforward control, with high energy efficiency. The robot offers a physical model demonstration of an avian-inspired, multiarticular elastic coupling mechanism that can achieve self-stable, robust, and economic legged locomotion with simple control and no sensory feedback. The proposed design is scalable, allowing the design of large legged robots. BirdBot demonstrates a mechanism for self-engaging and disengaging parallel elastic legs that are contact-triggered by the foot’s own lever-arm action.

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Section: Discussionmentioning

confidence: 99%

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

et al. 2022

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“…Thus, the bio-inspired feet with single-layer, double-layer, and three-layer material assemblies were successively tested after these fourteen bio-inspired feet being made. Since the maximum aboveground height of a running ostrich foot is 40 cm [32], the impact height of each bio-inspired foot was divided into 7 levels from 10 to 70 cm at the increment of 10 cm. The distance from the foot bottom to the quartz sand was measured by a ruler, and the tested bio-inspired foot freely fell along the polished rods under gravitation.…”

Section: Plos Onementioning

confidence: 99%

“…Histology and scanning electron microscopy showed the collagen fiber bundles in the proximal MTP were mainly wavy-type and likely involved in energy storage and shock absorption, those in the middle MTP were straight-type and mainly acted to change the force direction, but those in the distal MTP were not consistently arranged [30]. Significant differences in locomotion patterns were found between running and slow walking in the MTP joint of ostriches, but not in the interphalangeal joint of the 3rd or 4th toe [31][32][33]. Moreover, the 3rd toe as the main loadbearing element whilst the 4th toe as the complementary load-sharing element really worked as an "integrated system", which primarily ensured the lateral stability of the permanently-elevated MTP joint [26,32,33].…”

Section: Introductionmentioning

confidence: 97%

“…Significant differences in locomotion patterns were found between running and slow walking in the MTP joint of ostriches, but not in the interphalangeal joint of the 3rd or 4th toe [ 31 – 33 ]. Moreover, the 3rd toe as the main load-bearing element whilst the 4th toe as the complementary load-sharing element really worked as an “integrated system”, which primarily ensured the lateral stability of the permanently-elevated MTP joint [ 26 , 32 , 33 ].…”

Section: Introductionmentioning

confidence: 99%

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Study on bio-inspired feet based on the cushioning and shock absorption characteristics of the ostrich foot

Han

Zhang

et al. 2020

PLoS ONE

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As the main actuator of high-speed running, the ostrich feet are highly capable of cushioning and shock absorption. In this study, based on the elastic modulus scales and assembly order of the 3rd toe soft tissues and the functions of the metatarsophalangeal (MTP) joint, we designed fourteen bio-inspired feet. The impact process on loose sand was simulated on the finite element software Abaqus. Also the stress distributions and deformations of each component of the bio-inspired feet were clarified. With the peak acceleration as the index, the cushioning performances of the bio-inspired feet were compared on both loose sand and solid ground through height-variable impact tests. The 15-15-15 HA (hardness unit) bioinspired foot showed lower peak acceleration and thereby better cushioning performance, but larger deformation, less-uniform stress distribution and thereby lower stability than the 15-35-55 HA bio-inspired foot. In fact, the silicon rubbers with different hardness degrees (which simulate the elasticity modulus scales of the digital cushions, fascia and skin) and the spring mechanism (which simulates the functions of the MTP joint) work as an "integrated system" of cushioning and shock absorption.

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“…5–8 The unique structure and morphology of toenails are like a spike that can effectively improve the traction performance. 9,10…”

Section: Introductionmentioning

confidence: 99%

Drag reduction and wear resistance mechanisms of a bionic shovel by discrete element method simulation

Zhang

Han

et al. 2018

SIMULATION

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The ostrich has a steady and enduring high-speed running ability. Toenails are one key part of ostrich feet and their unique morphology is crucial in insertion into sand and for traction provision. In this study, information of bionic curves was extracted through studying the toenail structure and morphology, and three-dimensional reconstruction of toenails by reverse engineering. Based on the principle of bionic engineering, a bionic shovel was designed by optimizing the traditional shovel. A shovel-soil interaction mechanical model was established via the discrete element method. The insertion into soil processes of the bionic shovel and the common plate were simulated. The dynamic mesoscopic mechanical behaviors of soil particles around the shovel surface, the contact force field, and the velocity field, as well as the forces acting on the shovel surface were analyzed. The bionic shovel outperformed the common plate in insertion. The main reason for drag reduction in the bionic shovel was the inner concave bending surface, along which the soil particles climbed, and the particle movement trend was consistent. Simulations showed stress concentrated at the tip of the shovel, which facilitated the production of fatigue wear. Therefore, the tip needs to be considered firstly during bionic shovel design in the future.

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Phalangeal joints kinematics during ostrich (Struthio camelus) locomotion

Cited by 17 publications

References 34 publications

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

Study on bio-inspired feet based on the cushioning and shock absorption characteristics of the ostrich foot

Drag reduction and wear resistance mechanisms of a bionic shovel by discrete element method simulation

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