A Method for Mechanism Analysis of Frog Swimming Based on Motion Observation Experiments

摘要

For understanding the mechanism of frog swimming under water and designing a frog-inspired swimming robot, kinematics of the frog body and trajectories of joints should be obtained. In this paper, an aquatic frog, Xenopus laevis, was chosen for analysis of swimming motions which were recorded by a high speed camera, and kinematic data were processed in a swimming data extraction platform. According to the shape features of the frog, we propose a method that the frog eyes are set as the natural data extraction markers for body motion, and kinematic data of joint trajectories are calculated by the contour points on the limbs. For the data processing, a pinhole camera model was built to transform the pixel coordinate system to world coordinate system, and the errors caused by the water refraction were analyzed and corrected. Finally, from the developed data extraction platform, the kinematic data for the analysis of swimming mechanism and design of frog-inspired robot were obtained.