Mechanism analysis of cheetah’s high-speed locomotion based on digital reconstruction

摘要

As the fastest land animal, cheetah has important reference significance for the research of high-speed quadruped robots in terms of its body structure, motion characteristics and control mechanism. In this paper, we used digital reconstruction to analyze the mechanism of the cheetah’s high-speed movement. Considering the body size and quality of a real cheetah, a simplified virtual model of cheetah was built. Using the D-H method, the kinematics and dynamics of the cheetah’s leg mechanism were established. By using the foot trajectory data of the cheetah’s running gait obtained from biological research, each joint angle, virtual leg length, leg-to-ground contact angle, leg energy, joint torque, and the manipulability of the leg mechanism were analyzed and compared in the time dimension. Finally, the high-speed motion law of engineering guiding significance was extracted.