A NEW DYNAMICAL MODELING OF XENOPUS LAEVIS DURING FAST SWIMMING BASED ON REAL KINEMATICAL AND GEOMETRICAL DATA

摘要

The dynamic study of frog’s swimming style contributes to the modeling of the nature-inspired robots. To study the torque matrix produced in the joints during continuous modeling, the dynamic model of the Xenopus laevis swimming is reproduced in the coronal plane. The necessary kinematic data for the modeling is extracted from the frog movement graphs and diagrams during swimming. In the dynamic model, legs are considered as a group of rigid links. In order to verify this method, the generated forward force in half a cycle is studied. Unlike the previous studies, the role of geometry, dimensions and mechanical properties of the legs’ fundamental links in generating thrust force is modeled in this study, leading to finding the most proper form for this mechanism design.