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A method and system for determining the degree of freedom of the spine of a robotic mouse

A technology for a spine and a robot mouse, which is applied to the field of the method and system for determining the degrees of freedom of the spine of the robot mouse, can solve the problems that the bionic precision of the robot mouse needs to be improved, and the determination of the degree of freedom of the spine of the mouse cannot be effectively realized.

Active Publication Date: 2021-07-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, the determination of the degrees of freedom of the rodent spine with a compact and complex structure containing 33 major joints cannot be effectively realized
That is to say, the bionic accuracy of the existing robot mice still needs to be improved

Method used

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  • A method and system for determining the degree of freedom of the spine of a robotic mouse
  • A method and system for determining the degree of freedom of the spine of a robotic mouse
  • A method and system for determining the degree of freedom of the spine of a robotic mouse

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0055] The object of the present invention is to provide a method and system for determining the degree of freedom of the spine of the robotic mouse, which can accurately determine the degree of freedom of the spine of the robotic mouse, thereby improving the bionic precision of the robotic mouse.

[0056] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in ...

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Abstract

The invention relates to a method and system for determining the degree of freedom of the spine of a robot mouse. The method comprises: according to the video of the rat to be tested moving under the X-ray, 33 joint points of the vertebrae of the rat to be tested are marked to obtain the relationship between the position and time of each joint point; The absolute value of the difference between the angle change value and the angle change value of each joint point at adjacent moments; obtain the first constraint and the second constraint; according to the joint point of the first constraint and the second constraint The absolute value of the angle change value of the adjacent joint points and the difference between the angle change values ​​of each joint point at adjacent moments is screened to determine the set of reserved joint points; respectively, the set of retained joint points is extracted by principal component analysis , determine the extracted joint point set; determine the degree of freedom of the spine of the robotic mouse according to the extracted joint point set. The invention can accurately determine the degree of freedom of the spine of the robot mouse, thereby improving the bionic precision of the robot mouse.

Description

technical field [0001] The invention relates to the field of bionic mechanism design, in particular to a method and system for determining the degree of freedom of the spine of a robotic mouse. Background technique [0002] In the existing bionic mechanism design, more attention is paid to the large biological joints with obvious configuration and easy to analyze, such as the main joints of the legs such as hip joints, knee joints, and ankle joints. The number of main joints in the leg is small, the motion analysis is simple, and the degrees of freedom are easy to extract. In the design of bionic mechanism, the selection and design of degrees of freedom are very important, and a reasonable design method of degrees of freedom can provide guidance for the design of bionic mechanisms. [0003] Among them, for the degree of freedom design of the mouse legs and feet, reference can be made to other bionic quadruped robots. However, the method for designing the degree of freedom ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/161B25J9/1612B25J9/1633B25J17/02
Inventor 石青贾广禄高俊辉高子航余张国陈学超黄强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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