FROM BIOMECHANICS OF RATS’ INCLINED LOCOMOTION TO A CLIMBING ROBOT

摘要: The base of the design and construction an adaptive light-weight climbing robot is understanding nature small mammals’ motion on sloped supports. In present study, locomotor generalist Rattus norvegicus (the rat) served as main biological paragon. Experiments were performed under X-ray high-speed videography with synchronized substrate reaction force (SRF) measurements, to allow calculation inverse dynamics. Statistical analyses examine effects different orientations kinematic variables. We obtained SRFs, torque power patterns in extremities trunk rats moving simulated arboreal substrates at (0°, 30°, 60°). During locomotion horizontal substrates, prefer symmetrical gaits switch synchronous 60° inclination. Surprisingly, moderately inclined (30°) differ only invested locomotion. Our results suggest that seems play a more important role during steeper inclines where quasi-static in-phase gait. conclude this may be indication change from grounded Via bionic transfer we derived basic principles, which applied Rat-Nic.