Robotic harness for the field assessment of galloping gaits

Singh, Surya P. N.; Csonka, Paul J.; Waldron, Kenneth J.

doi:10.1109/iros.2007.4399637

Cited by 2 publications

(4 citation statements)

References 20 publications

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“…Thus, as an alternative to use of force-plate data, inertial sensors mounted on the body are be used to estimate the changes in momentum, and angular momentum resulting from the leg impulses. 9 This is similar to localization of a dynamic robot using inertial sensing. It has the advantage of providing data continuously over an indefinite number of strides, and does not require placement of the feet in specific locations, as is necessary for force-plate readings, and can be operated in less structured environments.…”

Section: Future Workmentioning

confidence: 85%

“…It also helps address a second difficulty, namely, the large workspace needed because of the gait's speed and long traversal, by allowing for laboratory (motion-capture) systems to be placed more sparsely. This is a different perspective than previous work that aimed for extended field measurement of body motion via inertial measurements, 9 in that in this work, the measurements are primarily focused on leg contacts and timings.…”

Section: Introductionmentioning

confidence: 98%

“…Prior efforts have included both active and passive measurement. Active measurement with instrumented subjects (such as with horses 8 or large dogs 9 ) require a complex processing and are limited to large subjects such that the dynamics of the sensor payload are negligible. Passive measurement using reflective markers and motion capture (such as that applied to dogs 10 ) generally focuses on motion kinetics and ground reaction forces and is limited by the joint camera workspace, camera resolution, and force plate dimensions.…”

Section: Introductionmentioning

confidence: 99%

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A stance period approach for simplified observation of galloping as applied to canines

Singh

Waldron

2011

Robotica

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The gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Simple models provide a conceptual framework for understanding this gait. In this light, this paper considers the footfall projections as suggested by an impulse model for galloping as a measurement simplifying strategy. Instead of concentrating on forces and inverse dynamics, this view focuses observations on leg motion (footfalls and stance periods) for subsequent gallop analysis and parameter estimation. In practice, this eases experiments (particularly for IR-based motion capture) by extending the experimental workspace, removing the need for single-leg contact force-plate measurements, and reducing the marker set. This provides shorter setup times, and it reduces postprocessing as data are less likely to suffer from occlusion, errant correspondence, and tissue flexion. This approach is tested using with three canine subjects (ranging from 8 to 24 kg) performing primarily rotary gallops down a 15 m runway. Normalized results are in keeping with insights from previous animal and legged robot studies and are consistent with motions suggested by said impulse model.

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Section: Future Workmentioning

confidence: 85%

Section: Introductionmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

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A stance period approach for simplified observation of galloping as applied to canines

Singh

Waldron

2011

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…Thus as an alternative to use of force-plate data, inertial sensors mounted on the body are be used to estimate the changes in momentum, and angular momentum resulting from the leg impulses. 4 This is similar to localization of a dynamic robot using inertial sensing. It has the advantage of providing data continuously over an indefinite number of strides, and does not require placement of the feet in specific locations, as is necessary for force-plate readings, and can be operated in less structured environments.…”

Section: Future Workmentioning

confidence: 85%

Generalized Dog Motion Measurements to Support a Simple Model of Rotary Galloping Locomotion

Singh

Waldron²

2009

Mobile Robotics

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The gallop is the preferred gait by mammals for agile traversal through terrain. This motion is intrinsically complex as the feet are used individually and asymmetrically. Experimental data for the gallop are limited due the large workspace needed because of the gait's speed and long traversal. A generalized motion measurement strategy is adopted based on high-speed, motion capture with a reduced marker set and an emphasis on body and leg kinematics and with limited ground reaction force measurement. This allows for an extension of the workspace and allows for markers to be placed in locations with reduced tissue compliance. This is sufficient for capturing the principal motion and for making kinematic comparisons to a previously developed approximating impulse model framework. A series of gallops were measured in a large gait laboratory (18 m 2 principal working area) from three canine subjects (ranging from 8 to 24 kg) galloping down a 15 m runway. Normalized results show a correlation with motions suggested by the impulse model and are in keeping with insights from previous animal and legged robot studies.

show abstract

Robotic harness for the field assessment of galloping gaits

Cited by 2 publications

References 20 publications

A stance period approach for simplified observation of galloping as applied to canines

A stance period approach for simplified observation of galloping as applied to canines

Generalized Dog Motion Measurements to Support a Simple Model of Rotary Galloping Locomotion

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