Publication
Title
Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus
Author
Abstract
Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tailed lizard Takydromus sexlineatus. We recorded the performance of real animals in terms of forward speed and then developed a simulation model respecting the morphometric characteristics of long-tailed lizards. We then run systematic tests altering several control parameters of the model. The simulation experiments suggested possible control strategies for effective locomotion given this type of morphology. The experiments were not constrained or guided by any prior knowledge on specific animal angular kinematics. Therefore, the good match between the suggested kinematics for optimal speed and the kinematics of the real animal suggests that our framework is capable of exploring in the future the effects of morphosis on the locomotion strategies of animals, e.g. to perform the same study with shorter or no tail.
Language
English
Source (book)
4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 24-27 June 2012, Lausanne, Switzerland
Publication
Los Alamitos, Calif. : IEEE , 2012
ISBN
978-1-4577-1199-2
DOI
10.1109/BIOROB.2012.6290836
Volume/pages
p. 943-948
ISI
000313014600159
Full text (Publisher's DOI)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identifier
Creation 11.03.2013
Last edited 02.10.2024
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